This paper considers the problem of robust H ∞ control for uncertain continuous singular systems with state delay. The parametric uncertainty is assumed to be norm bounded. By using the linear matrix inequality (LMI) approach, a sufficient condition is presented for a prescribed uncertain singular system with time-delay to have generalized quadratic stability and H ∞ performance. Furthermore, the design methods of state feedback controllers are considered such that the resulting closed-loop system has generalized quadratic stability with H ∞ performance. By means of matrix inequalities, sufficient conditions are derived for the existence of memory-less and memorial static state feedback controllers. The controllers are obtained by the solutions of matrix inequalities.