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This paper focuses on the problem of robust H∞ filtering for a class of nonlinear uncertain singular systems with time-varying delay. First of all, the dermition of robust H∞ filter is given. Considering the nonlinear disturbance link to uncertain singular systems with time-varying delay effects, we come up with the design idea of full order robust H∞ filter based on the Lyapunov stability theory. Under the condition that nonlinear uncertain functions satisfy Lipschitz condition, using Lyapunov stability theory and linear matrix inequality (LMI) methods, a sufficient condition of such nonlinear uncertain delayed filtering error singular systems which are asymptotically stable and satisfy the robust H∞ performance is obtained. Finally, two numerical examples are given to show the applicability of the proposed method.