In the paper an approach to the non-linear control of a gas-liquid separation plant is presented. To solve the problem the fuzzy gain-scheduling method was used and implemented on a programmable logic controller (PLC). Velocity-based linearization approach was used for control system design and implementation for the first time in process control application. Emphasis was placed on the appropriate adaptation of the method and some important implementation issues. The algorithm was carefully designed and tested by using ordinary simulation, hardware-in-the-loop simulation, and experiments on the real plant. The results show that the proposed approach substantially improves the closed-loop performance of the plant.