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When Ivan's dynasty ended, there was a time of pure anarchy. This was called the Time of Troubles.
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When the Time of Troubles was happening, the Zemsky Sobor called a meeting to elect a new Czar. His name was Michael Romanov.
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In the Romanov Dynasty, one of the best people in it was Peter the Great, he also believed in Divine Right.
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Peter started construction on a city that was in a swamp, it was called St. Petersburg, and stayed Russia's capital until 1918.
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When Peter the Great died, he made Russia a huge military power in Europe before he died.
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The Romanov Dynasty came to an end in 1917.