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First half ended goalless, PSV unable to turn possession into opportunity and Juventus happy to sit on their 2-1 lead from the first leg in Turin.
Needing a goal to stay in the tie, the home side attacked the second half with more urgency. Veteran Croatian striker Ivan Perisic controlled a pass brilliantly and drilled an unstoppable shot into the corner.
But against the run of play, the Serie A side took back the aggregate lead via a fantastic strike from Timothy Weah, from outside the penalty area.
PSV continued to press hard and the pressure eventually told as Moroccan midfielder Ismael Saibari seized on a goalmouth scramble to smash the ball into the top corner.
Finally Ryan Flamingo seized on some poor Juventus defending to poke the ball home in the first period of extra time, sending PSV through to face either Arsenal or Inter Milan.
