This paper investigates the problem of robust passive control for singular systems which contain structure uncertainties and time delay. Three types of controllers are considered, namely, state feedback controller, observer-based state feedback controller, and dynamic output feedback controller, and the controllers are constructed such that closed-loop systems are generalized quadratically stable and passive with dissipation eta. Design procedures and the algorithm are given for obtaining the maximum dissipation, and at the same time, the maximum guaranteed dissipation controllers are proposed. Illustrative examples are presented to show the validity and applicability of the proposed methods.