Abstract: H∞ control was determined for a kind of networked control system (NCS) based on a regular, impulse-free, and linear time-invariant singular control system. For the NCS with clock-driven sensors, actuators, and event-driven controllers, given an uncertain time-delay with no more than one sampling period and a limited external disturbance, the sufficient condition of the existence of dynamic output feedback H∞ control law was derived through Lyapunov theory and linear matrix inequality. A corresponding design method is also presented. Validity of the proposed approach is demonstrated by a simulation example.