Claudio Monteverdi (1567–1643):
Il combattimento di Tancredi e Clorinda (balletto or dramatic madrigal)

Selection 7 from Music of the Baroque: An Anthology of Scores, second edition
Click here for score
Text and Translation
Online performances:
Ensemble Alraune (video, staged in historical style)
Les Arts Florissants (concert video)
Nederlandse Opera (staged video)