Add Custom Relationship between Custom Module and Role Management Module (ACL Role)


I have build a custom module, e.g. MyCompany. I wish to add custom One-to-Many relationship in between the custom module and Roles Management (ACL Role) module. Therefore, the custom module will have subpanel which relate to ACL Role and allow to select role name. At finally, is it possible to relate and link custom module to ACL Role?