In this work we explore the use of gain scheduling for the control of nonlinear systems. The nonlinear system is represented locally by uncertain linear models using sector nonlinearities representation. The uncertain linear models are then used to design a family of robust controllers. We propose a gain scheduling procedure for the problem of guaranteed transition from an actual operating condition to a desired one by constructing a pre-specified path in the state space for the system operating points. As far as we know this problem has not been addressed before. The gain scheduling control procedure given is illustrated in the context of the regulator problem with state feedback.