When a cubic equation has a zero discriminant, and thus has real roots with multiplicity, is there any closed-form solution available for such roots? All sources I found just mention either the Cardano-method roots (which involve complex numbers even if the result is real), or the Viète/Descartes trigonometric form for the real roots, but they require a negative non-zero discriminant (if the discriminant is zero, you get an indetermination at the arccos of infinity).
Is there any closed-form (without complex numbers) for the roots when the discriminant is zero?