This paper presents controller design method for nonlinear radar gimbal system with parameter uncertainty and time delay. In order to consider nonlinearity of gimbal bearing frictional torque, we firstly represent fuzzy model for the nonlinear gimbal system, which is achieved by fuzzy combination of linear models through nonlinear fuzzy membership functions. And secondly we propose a delay dependent fuzzy $H_infty$ controller design method for the delayed fuzzy model with parameter uncertainty and design radar gimbal controller. The designed controller stabilize gimbal system and guarantee $H_infty$ performance. A computer simulation is given to illustrate stabilized control performances of the designed controller.