of Plombières), Walhorn, and the southwestern exclave of Sprimont. Frederick's eventual successor (probably a grandson) was Henry, although between them was Count Udon, who about 1065 was also called a "count of Limburg". (It has been proposed that he married Frederick's daughter, and was the father of Henry.) Henry also claimed Frederick's ducal title, which was finally acknowledged by Emperor Henry IV in 1101. The Duchy of Limburg, like most of modern Belgium, was originally within the Duchy of Lower Lorraine. For a while, Lower Lorraine had its own single Duke. It is from this Duchy that the Duchy of Limbourg derived its Ducal status (as did the Duchy of Brabant, in a competitive claim to succession). This meant that Lower Lorraine came to have two Duchies, that of Brabant, and that of Limburg, and the title of Duke of Lothier, still held by Brabant, eventually became ineffective. As the Lorrainian ducal dignity was contested the title "duke of Limburg" arose, achieving confirmation from Emperor Frederick Barbarossa in 1165. The rise of the Limburg dynasty continued, when Duke Waleran III in 1214 became Count of Luxembourg by marriage with the heiress Ermesinde and his son Henry IV in 1225 became Count of Berg as husband of heiress Irmgard. However, upon the death of Henry's son Waleran IV in 1279, leaving only one heiress Irmgard, who had married Count Reginald I of Guelders but died childless in 1283, the War of the Limburg Succession broke out. The Duke of Brabant won the final Battle of Worringen in 1288, thereby gaining control of the Duchy of Limburg with the consent of King Rudolph I of Germany. Though it shared the fate of Brabant, Limburg remained a separate Imperial State, which in 1404 passed from Joanna of Brabant to Anthony of Valois, son of the Burgundian duke Philip the Bold. With the Burgundian heritage of Mary the Rich, it was bequested to her husband Maximilian I from the Austrian House of Habsburg in 1482. Combined with the Landen van Overmaas (the lands beyond the Meuse: Dalhem, Herzogenrath and Valkenburg) and Maastricht, the duchy became one of the Seventeen Provinces held by the Habsburgs within the Burgundian Circle established in 1512. Significant towns in Limburg proper were Herve, Montzen, Lontzen, Eupen, Baelen and Esneux. After the abdication of Emperor Charles V in 1556, the Burgundian fiefs passed to his son King Philip II of