A new approach to gain-scheduling of H∞controllers is proposed for a cruise missile with variableswept wings( VSW) in bank-to-turn( BTT) mode. A nonlinear dynamic model is established and anticipant performance criterions are given at first. For the selected operating points,feedback robust controllers of threechannels are designed independently to restrain cross-channel couple disturbances and aerodynamic perturbations. Then,the sweepback and Ma number are selected to schedule controller gains iteratively to ensure all closed-loop poles locating inside the desired region. The proposed method here attempts to extend the performance of initial design obtained for a single arbitrary point to the whole linearized domain while maintaining the expected stability over the entire range of sweepback and full flight envelope. Some time-domain analysis procedures based on the proposed method are carried out and assessed,while the performance of tracking and robustness to aerodynamic perturbations in different situations are contrasted by some nonlinear simulations. Finally,the numerical simulations demonstrate that the proposed autopilot design method has better tracking performance and is robust,effective and feasible. A new approach to gain-scheduling of H∞controllers is proposed for a cruise missile with variableswept wings (VSW) in bank-to-turn (BTT) mode. A nonlinear dynamic model is established and anticipant performance criterions are given at first. For the selected operating points, feedback robust controllers of threechannels are designed independently to restrain cross-channel couple disturbances and aerodynamic perturbations. Then, the sweepback and Ma number are selected to schedule controller gains iteratively to ensure all closed-loop poles locating inside the desired region The proposed method here attempts to extend the performance of initial design obtained for a single arbitrary point to the whole linearized domain while maintaining the expected stability over the entire range of sweepback and full flight envelope. Some time-domain analysis procedures based on the proposed method are carried out and assessed, while the performance of tracking and robustness to aerodynamic perturbati ons in different situations are contrasted by some nonlinear simulations. Finally, the numerical simulations demonstrate that the proposed autopilot design method has better tracking performance and is robust, effective and feasible.