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For improving the transient stability of AC/DC interconnected power systems, the input-output feedback model of AC/DC interconnected power systems is constructed and the decentralized coordinated robust adaptive control scheme based on WAMS is developed. The additional control of DC lines with unmodeled dynamics only uses a few signals and its design is simple, furthermore it can obviously improve the stability of power systems in different operational conditions. Experimental results for the China Southern Grid (CSG) prove the efficiency of the control scheme. The design process of controller provided a new idea to design controller by using simplified model.