Abstract: The design of robust dynamic output feedback robust H∞ controller for a class of singular systems with varying state-delay, input-delay and nonlinear parameter uncertainty is considered. The parameter uncertainties are assumed nonlinear and norm bounded. Combining the linear matrix inequality with Lyapunov function on suitable conditions, the design method and existent sufficient conditions are given to a robust dynamic output feedback controller by which the time-delay singular closed-loop system is admissible, i.e., regular, stable and impulse-free, and the transfer function from exogenous disturbance to output satisfies a prescribed H∞ performance index for the given parameter uncertainty. Furthermore, it is shown that the robust dynamic output feedback controller can be constructed in terms of the feasible solutions to a certain linear-matrix inequalities and extended to the cases involving multiple time-varying delays. An example is given to illustrate the effectiveness of the proposed method.