The Battle of Magnesia was the concluding battle of the Roman–Seleucid War, fought in 190 BC near Magnesia ad Sipylum on the plains of Lydia between Romans, led by the consul Lucius Cornelius Scipio and his brother, the famed general Scipio Africanus, with their ally Eumenes II of Pergamum, and the army of Antiochus III the Great of the Seleucid Empire.