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Charlie Austin was the hero as QPR booked a place at Wembley after a nail-biting play-off semi-final win against Wigan on Monday night.
The former Burnley frontman landed the decisive blow in the first period of extra-time after Rangers fought back from a goal down to edge out Uwe Rosler's side.
Harry Redknapp's men got off to a nightmare start when James Perch gave the visitors an early lead at Loftus Road.
The hosts levelled after the break when Austin sent Scott Carson the wrong way from the spot after Gary Caldwell had scythed down Junior Hoilett.
And the comeback was completed when sub Bobby Zamora set up Austin to stab home a dramatic winner.
