 In the 15th century, the Duchy of Burgundy managed to acquire "de facto" control over Cambrésis.During the War of the Burgundian Succession (1477–1482) France conquered the city, but Emperor Charles V managed to retrieve Cambrésis for the Holy Roman Empire in 1529 (Ladies' Peace of Cambrai), and again in 1543.When the Imperial Circles were introduced in 1500, Cambrésis was included into the Lower Rhenish–Westphalian Circle.