How and when did the struggle of plebeians and patricians end?

In the Roman Empire around 400 BC, there was a struggle between patricians and plebeians. The first is the aristocratic Roman nobility. They had broad rights, lands, slaves. They also participated in the government and commanded military campaigns. The plebeians are a dependent, poor population. They were deprived of benefits, privileges and land allotments. In 396 BC, they fought for equal rights and were able to ensure that they could take part in popular assemblies through the tribunes of the people.