In this paper, a design methodology has been developed for the control of non-autonomous batch processes which typically require good tracking performance. The design, based on the framework of differential geometric methods and linear gain scheduling theory, involves a multi-loop structure. The inner loop is an input-output linearizing state feedback law based on a nominal, time-invariant plant model. The outer loop includes a gain scheduling controller which provides the desired stability and tracking performance in the face of time varying parameters. The procedure is applied to a semi-batch polymethylmethacrylate synthesis problem. The results show excellent tracking performance of the gain scheduling controller.