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Because the nonlinear system functions and the uncertainties of the controlled system including structural uncertainties are supposed to be unknown, fuzzy logic systems are utilized to approximate these nonlinear system functions and the upper bounded functions of the uncertainties. Moreover, the upper bound of uncertainties caused by these fuzzy modeling errors is also estimated. In addition, the state observer based on state variable filters is designed to estimate all states which are not available for measurement in the controlled system. By constructing an appropriate Lyapunov function and using strictly positive-real (SPR) stability theorem, the proposed robust adaptive fuzzy controller not only guarantees the robust stability of a class of multivariable nonlinear uncertain systems with delayed output but also maintains a good tracking performance. 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