The history of Petrovac began in Roman times, when a few villas were built on the karst plateaus of Medinski. A 4th-century mosaic floor, remains of a villa and baths are found behind the Sveti Ilija church. Later there was a small slavic village. The village was mentioned for the first time in the chronicles of the priest of Duklja. A 16th-century Venetian fortress, Kastel Lastva, was built on the north side of the bay to discourage pirates. The name, Petrovac, was given at the beginning of the 20th century in honor of King Peter I Karadjordjevic of Yugoslavia. Before, the name was Lastva.
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