Gough Whitlam, the 21st Prime Minister of Australia, has passed away at the age of 98.

Mr Whitlam’s children Antony, Nicholas, Stephen and Catherine issued a joint statement confirming the death.

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“Our father, Gough Whitlam, has died this morning at the age of 98,” the statement read.

“A loving and generous father, he was a source of inspiration to us and our families and for millions of Australians.”

“There will be a private cremation and a public memorial service.”

Mr Whitlam was the nation’s leader from 1972 to 1975 and was the only prime minister ever to be sacked by the governor-general.

Speaking to Jon Faine on ABC Radio, former prime minister Malcolm Fraser remembered his late friend and political opponent.

“His ambition for Australia was boundless, his enthusiasm was great and Australia is a much richer country for his life,” Mr Fraser said.

“We obviously came from different backgrounds – he was older than I and had served in the war – but in our hopes for Australia I think our views were similar. Perhaps it was those elements that made it much easier for a very real friendship to develop.”

Mr Fraser also celebrated Mr Whitlam’s hopes for Australia’s future and his proactive approach to international relations.

“He was a figure on the world stage. That was his idea of Australia, we didn’t just follow America, we had our own identity and purpose. He recognised that China had to come in from the cold and was bound to become an increasingly influential nation … he established a very positive relationship.”

Labor leader Bill Shorten agreed that Mr Whitlam’s achievements were boundless.

“Think of all that he changed for the better,” Mr Shorten said.

“Healthcare changed because of him, education changed because of him, land rights for Indigenous Australians changed because of him, our place in Asia – in particular our relationship with China – changed because of him, our troops home from Vietnam and the birthday ballot ended because of him, the death penalty was abolished because of him.”

Governor-general Peter Cosgrove described Mr Whitlam as “a towering leader of his time”.

“On behalf of all Australians, I wish to express sincere condolences to the Whitlam family,” Mr Cosgrove said.

Deputy opposition leader Tanya Plibersek said Mr Whitlam was an inspiration

She recalled his generosity in guiding younger members of the party and advice offered over a cup of tea at his Sydney home.

Ms Plibersek also paid tribute to his legacy and policies, some of which – like free university education – were controversial.>

“He is the iconic figure for making brave policies stand,” she told Sky News.

“He’s an inspirational figure in that way.”

Shadow treasurer Chris Bowen described Whitlam as a “Labor Hero”.

“A loss to the nation. RIP Gough,” he wrote on Twitter.

Mr Whitlam’s wife, Margaret Whitlam, passed away in 2012 at the age of 92.

“She was a remarkable person and the love of my life,” Mr Whitlam said at the time of his wife’s passing.

“We were married for almost 70 years. She encouraged and sustained me and our four children (Antony, Nicholas, Stephen and Catherine), their families and many other people in a life full of engagement with Australians from all walks of life.”