This should be in Rourke and Sanderson's book "Introduction to PL topology". Also, take a look at this paper about PL transversality. Once you know what transversality means, if you have a PL map $f: M\to N$ between PL manifolds, then a point $p\in N$ is a regular value of $f$ iff $f$ is transversal to $\\{p\\}$.