The Nerva–Antonine dynasty comprised seven Roman emperors who ruled from 96 AD to 192: Nerva (96–98), Trajan (98–117), Hadrian (117–138), Antoninus Pius (138–161), Marcus Aurelius (161–180), Lucius Verus (161–169), and Commodus (177–192). The first five of these are popularly known as the "Five Good Emperors".