Robson-Kanu has scored in Reading's last two pre-season matches and McDermott has suggested that the Welsh international will feature in the club's return to the Premier League.
McDermott said: "Hal is part of a great group of players and whatever team I decide to put out against Stoke City, everyone will be supporting each other.
"We have 38 games plus the cup, which is a lot of matches. I've got two players for each position which is what I wanted."
Robson-Kanu scored four goals in 35 appearances as Reading won the Championship last season.