Real Madrid and Atlético Madrid did not need to play a penalty shoot-out in 2016 UCL final.
If two soccer teams score the same number of goals in one UCL final during the regular time, they need to play for the extra time. If two soccer teams score the same number of goals in one UCL final during both the regular time and extra time, they need to play the penalty shoot-out. Real Madrid and Atlético Madrid both scored one goal in 2016 UCL final during the regular time. Real Madrid and Atlético Madrid both scored zero goals in 2016 UCL final during the extra time.
∀x ∀y (SoccerTeam(x) ∧ SoccerTeam(y) ∧ SameScore(x, y) ∧ During(regularTime) → PlayExtra(x, y)) ∀x ∀y (SoccerTeam(x) ∧ SoccerTeam(y) ∧ SameScore(x, y) ∧ During(regularTime) ∧ During(extraTime) → PlayPenalty(x, y)) SoccerTeam(realMadrid) ∧ SoccerTeam(atleticoMadrid) ∧ SameScore(realMadrid, atleticoMadrid) ∧ During(regularTime) SoccerTeam(realMadrid) ∧ SoccerTeam(atleticoMadrid) ∧ SameScore(realMadrid, atleticoMadrid) ∧ During(extraTime)