A velocity-based linearization framework is employed to develop a novel rigorous approach to gain-scheduling design. The proposed approach enables knowledge concerning the plant dynamics at non-equilibrium operating points to be incorporated directly into the controller design. Since the velocity-based linearization framework supports the analysis of the transient response, performance considerations can be accommodated. The approach retains continuity with linear methods, which is central to the existing conventional gain-scheduling methodology, and, since a single type of linearization is employed throughout, the design procedure is both straightforward and conceptually appealing.