Single-phase power factor correction (PFC) converter circuits are non-linear systems due to the contribution of their multiplier. This non-linearity causes difficulties in analysis and design. Models that reduce the system to a linear system involve considerable approximation, and produce results that are susceptible to instability problems. In this paper a piecewise affine (PWA) system is introduced for describing the nonlinear averaged model. Then robust output feedback controllers are established in terms of the linear matrix inequality (LMI). Simulation and experiments results show the effectiveness of the proposed control method.