This paper investigates a novel fuzzy control approach developed for a class of nonlinear continuous systems. We combine an input-output feedback linearization (IOFL) method and a gain scheduling (GS) approach to obtain a tracking control structure. The latter is mainly based on the reversing trajectory method which allows us to estimate the asymptotic stability region around operating points. Needless to say that the limitation of this analytical approach lies in the challenge of determining the intermediate operating points in order to ensure a smooth transition from actual operating conditions to desired ones. This happens when there is no intersection between successive stability regions. The proposed fuzzy logic controller (FLC) is synthesized in order to determine the intermediate operating points which, in turn, will allows us to online implement the tracking control for nonlinear systems. Finally, the effectiveness of the fuzzy gain scheduling schema is demonstrated through its simulation to a temperature control problem in a CSTR. (C) 2010 Elsevier Ltd. All rights reserved.