Can an AngularJS controller inherit from another controller in the same module?

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Yes, it can but you have to use the $controller service to instantiate the controller instead:-

var app = angular.module('angularjs-starter', []);

app.controller('ParentCtrl', function($scope) {
  // I'm the sibling, but want to act as parent
});

app.controller('ChildCtrl', function($scope, $controller) {
  $controller('ParentCtrl', {$scope: $scope}); //This works
});

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