LONDON, March 17 — Chelsea substitutes Carney Chukwuemeka and Noni Madueke scored stoppage time goals to earn a thrilling 4-2 home victory over second-tier Leicester City today and a place in a the FA Cup semi-finals.

Chelsea had looked in full control at halftime after goals from Marc Cucurella and Cole Palmer, though Raheem Sterling had also had a penalty saved by Jakub Stolarczyk’s legs.