The purpose of this paper is to study the stability analysis and controller synthesis principles of Discrete Perturbed Time-Delay Affine (DPTDA) Takagi-Sugeno (T-S) fuzzy models. In general, the T-S fuzzy model is a weighted sum of some linear subsystems via fuzzy membership functions. This paper considers fuzzy rules include both linear nominal parts and uncertain parameters in the time-delay affine T-S fuzzy model. For DPTDA T-S fuzzy models, the T-S fuzzy control scheme is used to confront the $H_{infty}$ performance constraints. Some sufficient conditions are derived on robust $H_{infty}$ disturbance attenuation in which both robust stability and a prescribed performance are required to be achieved. In order to find suitable fuzzy controllers, the Iterative Linear Matrix Inequality (ILMI) algorithm is employed to solve these sufficient conditions. At last, a numerical simulation for the nonlinear truck-trailer system is given to show the applications of the present design approach.