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Robust tracking control for switched linear systems with time-varying delays is investigated. Sufficient conditions for the solvability of robust tracking control problem are developed. Average dwell-time approach and piecewise Lyapunov functional methods are utilised for the stability analysis and controller design, and with free weighting matrix scheme, switching control laws are obtained such that the weighted Hinfin model reference robust tracking performance is satisfied. By using linear matrix inequalities, the controller design problem can be solved efficiently. A simulation example shows the effectiveness of the proposed switching control laws.