Robert loved Lyanna with a burning passion,he desired her like no other woman now this rebellion he started for her..for his Lyanna who was taken by Rhaegar,The crowned prince ever since that day Rhaegar placed the rose crown hes never been more angered. *Lyanna doesn't love him of course because he already had a child out wedlock in the vale. of course he believes that he loves her. He loves her At least he thinks he does