The robust H∞ descriptor output feedback control problem for descriptor uncertain system was investigated. The uncertainties are value bounded and exist in the state and control input matrices. A design method based on the bounded real lemma was developed for a descriptor dynamic output feedback controller, which was reduced to a feasibility problem for a set of matrix inequalities including a nonlinear matrix inequality (NLMI). It was proposed to solve the NLMI iteratively by the idea of homotopy and Schur complement lemma, where some of the variables were fixed alternately at each iteration to reduce the NLMI to a linear matrix inequality (LMI). The controller which enables the closed-loop system robust stable and satisfies the given H∞ performance was obtained by the offered homotopy iterative method. At last a numerical example was given to demonstrate the effectiveness of the method.