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World number 39 Rajawat defeated Antonsen 21-11, 17-21, 21-19 in a gruelling one hour 19 minutes quarterfinal on Friday night.
However, the women’s doubles pair of Treesa Jolly and Gayatri Gopichand made a quarterfinal exit.
The third-seeded Indians were handed a 18-21 21-19 16-21 defeat by Chinese Taipei’s Pei Shan Hsieh and En-Tzu Hung.
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Rajawat was off to a bright start, taking a 7-4 lead in the opening game before Antonsen levelled it at 9-9.
The Indian then picked up five points on the trot to gain the upper hand and while the Dane tried to fashion a comeback, Rajawat claimed seven successive points to take the first game.
Trailing 0-1, Antonsen made a strong comeback in the second game and although Rajawat matched him, even levelling the game at 17, he lost four straight points as the world No. 4 forced a decider.
In the final game, Rajawat initially led 5-1, but Antonsen responded with six consecutive points, bringing the score to 7-5 in favour of the Danish player.
Rajawat staged a comeback by winning three points but the experienced Dane entered the mid-game break with a slender 11-10 lead.
With little differentiating the two players, it could have been anybody’s game but at 19-19 Rajawat won back-to-back points to seal the match.
Rajawat is the only Indian left in the competition.
He had pulled off victories against higher-ranked opponents — world number 24 Rasmus Gemke of Denmark and Japan’s Takuma Obayashi, ranked 33rd, in the first and second rounds respectively.