In this paper, the problem of delay-dependent robust L2 −L ∞ (energy to peak) control for a class of uncertain fuzzy descriptor systems with time-varying delay is investigated. The parametric uncertainties are assumed to be of a linear fractional form involving all system matrices. First, a delay-dependent criterion is given in terms of LMIs to guarantee that the fuzzy descriptor system is regular, impulse free, and stable. Based on this criterion, a state fuzzy feedback controller is designed to ensure that the closed-loop system is regular, impulse free, and robustly stable with a prescribed L2 −L ∞ performance satisfied for all admissible parameter uncertainties. Numerical examples are given to show the effectiveness of the proposed approach. Copyright © 2011 John Wiley & Sons, Ltd.