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Margaret Hopwood was a companion of the Fourth Doctor.
She was captured by the Nine and placed in a prison along with various other companions. She could be heard bemoaning the fact that she was not young any more, and begged to be let out. (AUDIO: Companion Piece)
Behind the scenes
As of 2019, Margaret has not appeared in any other stories and Companion Piece never states which Doctor she travelled with. The corridor she was kept in implied showed she was a companion to the Fourth Doctor.
Margaret is to appear in the Fourth Doctor Adventures: Series 11 in 2022 and Series 12 in 2023 as the main companion.