Abstract: The design of robust H∞ static state feedback and dynamic output feedback controllers are discussed for uncertain singular systems expressed in general foam. Based on the concept of generalized quadratic H∞ performance, by using linear matrix inequality (LMI), it is proved that there must be a robust H∞ static state feedback controller if a robust H∞ dynamic state feedback controller exists. Then, a sufficient and necessary condition is given for the existence of a robust H∞ static state feedback controller with its design. Furthermore, a sufficient condition is presented for the existence of a robust H∞ dynamic output feedback controller with its design.