This paper is concerned with the problem of H∞ performance optimization for NCSs with multiple sensors and actuators. The controller, sensors, and actuators employ a periodic time sequencing scheme for message transmissions, and the switched controller gains will introduce less conservatism than the common controller gain based method. By choosing appropriate Lyapunov function, sufficient conditions guaranteeing the H∞ performance of the considered system are presented, and a new switched controller design method is also proposed. The merit of the proposed optimization method lies in its less conservatism, which is achieved by adopting periodic time sequencing scheme for controller and proposing new switched controller design method. The results are also extended to NCSs with norm-bounded parameter uncertainties. The simulation results illustrate the effectiveness of the periodic time sequencing scheme for sensors, actuators and controller.