This paper describes a method for on-line weld geometry monitoring and control using a single front-side infrared sensor. Variations in plate thickness, shielding gas composition and minor element content are known to cause weld geometry changes. These changes in the weld geometry can be distinctly detected from an analysis of temperature gradients computed from infrared data. Deviations in temperature gradients were used to control the bead width and depth of penetration during the welding process. The analytical techniques described in this paper have been used to control gas tungsten arc and gas metal arc welding processes.