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Jared Berggren, who had 17 points, hit a 3-pointer as the shot clock expired, but Milwaukee's Ryan Allen answered with a dunk.
Taylor then scored inside and later made two free throws, giving the Badgers a 55-50 lead with 3:27 left. Milwaukee's Kaylon Williams scored, cutting the lead to three with 1:08 left.
Taylor then hit the 3-pointer with just over 40 seconds left to put the game away.
With the win, Ryan once again came out on top against Jeter, his former assistant -- but praised the job Jeter is doing to make the Panthers competitive again.
"Robby's got a program here," Ryan said.
Ryan did joke about the Panthers' hospitality, holding a tiny cup of water at the postgame interview table.
"I was looking for a little water, and I got a little water," he said.
Milwaukee was without two starters because of injuries, forward Kyle Kelm and guard Ja'Rob McCallum.
The Panthers got off to a miserable start against the Badgers, who came into Tuesday's game as the nation's best defensive team allowing 44.9 points per game. Milwaukee started 3 for 18 from the field and 0 for 6 from 3-point range.
And they struggled at the free throw line all game, hitting only 7 of 17 from the line.
Jeter said it will be a learning experience for his team.
"For our guys to be down with a team that's as sound as Wisconsin, and to battle back -- and to do it in a way that was inside, not from the outside -- was encouraging," Jeter said. "As much as it hurts right now to lose this game, I thought we were better tonight."
[Associated Press;
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