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Due to the rapid development of science and techniques, people can remotely access computers over the networks. Thus, user authentication and key agreement become more and more important to ensure the legality of the user and the security of later communications, respectively. Because the number of servers providing the facilities for the user is usually more than one, the concept of multi-server protocols is introduced. On the Internet, each server usually provides various services, and each service provided by the server may not be accessed by the user. Hence, access control is required in the multi-service environment. In 2004, Juang proposed a multi-server authentication scheme with key agreement. However, access control is not taken into account in Juang's proposed scheme, so we propose an efficient multi-server password authenticated key agreement scheme with access control in this article.