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5 year oldMr Mugabe had been receiving treatment in a hospital in Singapore since April. He was ousted in a military coup in 2017 after 37 years in power.
The former president was praised for broadening access to health and education for the black majority.
But later years were marked by violent repression of his political opponents and Zimbabwe's economic ruin.
His successor, Emmerson Mnangagwa, expressed his "utmost sadness", calling Mr Mugabe "an icon of liberation".
It is with the utmost sadness that I announce the passing on of Zimbabwe's founding father and former President, Cde Robert Mugabe (1/2)
— President of Zimbabwe (@edmnangagwa) September 6, 2019
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