from http://en.wikipedia.org/wiki/Dudley_Castle:

"It is thought one of the Conqueror's followers, Ansculf de Picquigny, built the first {Dudley] castle in 1070.[2] and that his son, William Fitz-Ansculf, was in possession of the castle when it was recorded at the time of the Domesday Book of 1086. Some of the earthworks from this castle, notably the 'motte', the vast mound on which the present castle keep now sits, still remain. However the earliest castle would have been of wooden construction and no longer exists[3]."

2.^ "The fates and fortunes of Dudley Castle". 3. ^ http://www.dudleymall.co.uk/loclhist/olddudley/dudleycastle.htm

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William FITZANSCULF (1044-) [Pedigree]

Son of Ansculf (1014-)

   b. ABT 1044, Dudley, Worcester, Eng.

Children:

  1. Miss FITZWILLIAM (1074-) m. Fulk PAYNEL (1060-).

Sources:

1. "Ancestral roots of certain American colonists who came

        to America before 1700",

        Frederick Lewis Weis, 1992, seventh edition.

        The earlier editions were called: "Ancestral roots of

        sixty colonists who came to New England 1623-1650"

2. "Genealogical Server, www.genserv.com",

        Cliff Manis.

See "My Lines"

( http://homepages.rootsweb.ancestry.com/~cousin/html/p22.htm#i24987 )

from Compiler: R. B. Stewart, Evans, GA

( http://homepages.rootsweb.ancestry.com/~cousin/html/index.htm )

At the time of the Domesday Survey, the lordship of Dudley was held by William Fitz Ansculph, as written in Domesday, "ibi est Castellum ejus." William was a great landowner who besides possessing twenty manors in Staffordshire, fourteen in Worcestershire and seven in Warwickshire, all lying within a few miles of his Castle, also held forty-five in other counties. Nothing more is known about William Fitz Ansculph except that his entire Barony subsequently came into the possession of Fulke Paganel. It is possibly that Paganel acquired his this by marriage with Fitz Ansculph's daughter and heiress.

In Dugdale's Baronage, Vol. I, p. 431, it says that in some places in Domesday, Fitz Ansculf is also called "Ansculf de Pinchengi" in which he referenced Bucks, who wrote that Ansulf de Pinchengi held "Essenberge." Baker in his Histroy of Northamptonshire, Vol. II, p. 107, considers that William fil' Ansulfi was son of Anculf de Pinchengi, and he deduces the family of Pinkeney from one Gilo, a brother of Ansculf, who is mentioned in Domesday as Lord of Wedon, Morton, etc.

~Extracts From the Plea rolls of the Reign of Edward II, A.D. 1307-1327, pp. 6-7

Sources:

William Salt, Extracts From the Plea rolls of the Reign of Edward II, A.D. 1307-1327, Collections for a History of Staffordfordshire, Vol. 9, Archaeological Society, Staffordshire Record Society, Published 1888, by Houghton and Hammond, found on Google Books .