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In recent years, with the upgrading of the attack technology, stealthy DoS jamming attacks have become the primary factor to threaten the security of Industrial Cyber-Physical Systems (ICPS). Considering the complex industrial scenarios of ICPS, which are influenced by a variety of external and internal interference, a <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> controller designing problem is studied in this paper for an ICPS which deploys a hybrid-triggered mechanism (HTM) in the wireless channel encountering stealthy DoS jamming attacks. By employing a compensation mechanism which is employed in the controller to mitigate the impacts of attacks, external disturbance, limited channel capacity, wireless channel noise, we establish a closed-loop system and prove the closed-loop system is mean square exponentially stable and can achieve the desired <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> disturbance rejection level theoretically. Finally, simulation examples are used to demonstrate effectiveness of the proposed <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> controller.