Singapore's founding prime minister Lee Kuan Yew paid tribute to Nelson Mandela in a condolence letter to his widow on Friday, calling him "an inspiration to an entire generation".
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Tributes have poured in from Singapore's leaders and politicians.
In a Facebook post on Friday, Mr Goh, who is in New Delhi, paid tribute to the respected leader, saying he was "saddened by the passing of a wise leader and a great human being".
Prime Minister Lee Hsien Loong and President Tony Tan also sent condolence letters to South African President Jacob Zuma, while Foreign Minister K Shanmugam wrote to International Relations and Cooperation minister Maite Nkoana-Mashabane.
Minister for Communications and Information Yaacob Ibrahim and Minister for the Environment and Water Resources Vivan Balakrishnan also posted tributes on their Facebook pages.