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In this paper, a new approach for controller designing of robust output feedback model reference adaptive control with a function of tracking error for a class of continuous linear systems with multiple uncertain time varying state delays is introduced. Proposed controller is not only robust versus of multiple uncertain time delays and external disturbance with uncertain bound but also improve performance of transient and steady state of closed loop system. The stability of closed loop system and error convergence is shown with an appropriate Lyapunov-Krasovskii function. Simulation results show good performance of proposed controller.