In this task you will be given a text passage from a trivia quiz. You should choose the category this question belongs to from these categories: History, Science, Social Science, Fine Arts, Literature. You can only choose one category, so if in doubt, please choose the closest match.
Q: During the battle of Lincoln, this man was captured by William de Cahaigne and afterwards imprisoned on the orders of his cousin. After the death of his son Eustace, this man signed the treaty of Wallingford which would settle his succession once and for all. His claim to power was made possible by his brother Theobald's lack of interest, and got Innocent II's papal blessing. His wife, Matilda of Boulogne, was an important ally, and she managed to have him released by exchanging him for Robert, Earl of Gloucester, his cousin's most prominent general. His mother, Adela, was a daughter of William the Conqueror, which gave him a claim on the throne. He further claimed that Henry I had appointed him as successor on his deathbed, with led to struggle with the Empress Matilda, known as the Anarchy. FTP, who was this last Norman king of England, predecessor of Henry II
A:
History