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Cristiano Ronaldo showed nerves of steel to score an injury-time penalty and send holders Real Madrid into the semi-finals of the Champions League in extraordinary circumstances as they lost 3-1 to Juventus on Wednesday but won a thrilling tie 4-3 on aggregate.

Cape Town - Cristiano Ronaldo showed an awesome ability to handle the biggest of occasions when he stepped up to coolly score a stoppage-time penalty for Real Madrid against Juventus.

However, a controversial stoppage time penalty awarded by Premier League referee Michael Oliver for a foul on Lucas Vazquez allowed Cristiano Ronaldo the chance to put the Italians out.

The manner of the loss, with Juve fighting back, coming so close to extra time and losing to a late Ronaldo penalty has triggered an emotional reaction among those associated with Madrid and Juventus. He is hit from behind.

"We did badly, not so much in goal-scoring opportunities, but in just controlling the game". That is their game.

In other Champions League quarter final clash, Bayern Munich played out a gaolless draw with Spanish opponent Sevilla at the Alliaz Arena but it was Bayern that qualified to the semi finals thanks to a 2 - 1 aggregate victory.

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"Since I've been here there's always been a bad performance in this competition and I always believed we would come through", Carvajal said.

The Coach made some surprising decisions, using 21-year-old Jesus Vallejo in defence for suspended Sergio Ramos and picking Gareth Bale rather than Karim Benzema.

"The pulse increased, but I calmed down, and I knew I'd be decisive", he continued.

Real, Champions League winners in three of the past four seasons, came into the second leg leading 3-0, helped by Ronaldo's stunning bicycle kick. The crowd got nervous when Mario Mandzukic added his second goal before halftime, and the unlikely comeback was almost complete when Blaise Matuidi scored the third about 15 minutes into the second half.

Gianluigi Buffon, Juventus goalkeeper: "To award such a doubtful, or super doubtful penalty, just ahead of the final whistle and destroy the work of a team who gave absolutely everything, you have to have a trash bin instead of your heart".