This study addresses the issue of robust dynamic output feedback control (DOF) for polynomial Takagi–Sugeno (T–S) fuzzy systems in the Finite Frequency (FF) domain. Sufficient conditions for designing the robust DOF control are derived in terms of the sum of squares (SOS). The proposed strategy is built in the FF domain to reduce conservation-generated by the techniques established in the whole frequency domain. In addition, there are no transformation matrices or equality constraints under these conditions, which simplifies the numerical solution. To show the validity of the suggested technique, several numerical examples are presented.