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Graham Shelby's 1972 novel The Oath and the Sword (aka The Villains of the Piece), focuses on Empress Matilda's faithful supporter Brien FitzCount, Lord of Wallingford, through the years of the Anarchy.
Wallingford Castle passed from Robert to first his son-in-law Miles Crispin, and then Brien FitzCount, who married Robert's daughter after Miles died.