A method and system of color management for an image marking device. A sensor measures printed hardcopy colors. A first gain, computed by a linear controller based on a linear model, is scheduled for each color node of a sampled color space. For each node where a convergence error exceeds a threshold, a second gain is scheduled by a nonlinear controller. The second gain scheduling includes initializing operational parameters, and performing an iterative procedure. The iterative procedure includes computing gain matrices over a defined projection horizon, evaluating a cost function for each gain matrix, determining the cost function, scheduling a new gain based on selecting a gain matrix having the minimum value of the cost function, and computing new CMYK values based on the new gain. A multidimensional LUT based on the scheduled gain matrices is generated and stored in memory, and a hardcopy output image is generated based on the stored multidimensional LUT.