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This paper focuses on the problem of designing H∞ filters for nonlinear systems with time-varying delay via Takagi-Sugeno (T-S) fuzzy models. Some new results on H∞ filter design are proposed by estimating the upper bounds of the derivatives of Lyapunov functionals without ignoring some useful terms, which improve the existing ones. In addition, a sufficient condition for the existence of such an H∞ filter is established in terms of solutions to a set of linear matrix inequalities (LMIs). Finally, two examples are given to demonstrate the effectiveness of the proposed method.