This paper describes a robust and non-fragile $H_{infty}$ controller design method for descriptor systems with parameter uncertainties and time delay, as well as a static state feedback controller with multiplicative uncertainty. The controller existence condition, as well as its design method, and the measure of non-fragility in the controller are proposed using linear matrix inequality(LMI) technique, which can be solved efficiently by convex optimization. Therefore, the presented robust and non-fragile $H_{infty}$ controller guarantees the asymptotic stability and disturbance attenuation of the closed loop systems within a prescribed degree in spite of parameter uncertainties, time delay, disturbance input and controller fragility.