The Penguins (11-8, 6-3) were led in scoring by Cris Carroll, who finished with 14 points and six rebounds. Jason Nelson added 14 points and two steals for Youngstown State. Ty Harper also had 12 points.
Both teams next play Sunday. Milwaukee hosts Robert Morris and Youngstown State goes on the road to play Green Bay.
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The Associated Press created this story using technology provided by Data Skrive and data from Sportradar.