This paper studies the problem of dynamic output feedback H (infinity) control for nonlinear systems, which are described by Takagi-Sugeno fuzzy parts with measurable premise variables and uncertainty parts. The uncertainties are parameter dependent, unknown, and time varying but bounded. A switching fuzzy dynamic output feedback control scheme is proposed, which depends on the measurable premise variables and the bounds of the unknown parameters of the considered system, where the switching mechanism is introduced to handle the unknown parameters. A two-step linear-matrix-inequality-based optimization procedure is developed to design switching fuzzy H (infinity) controllers. An example is given to illustrate the effectiveness of the proposed design method.