The development of powered lower-limb prostheses has the potential to significantly improve amputees' quality of life. By applying advanced control schemes, such as hybrid zero dynamics (HZD), to prostheses, more intelligent prostheses could be designed. Originally developed to control bipedal robots, HZD-based control specifies the motion of the actuated degrees of freedom using output functions to be zeroed, and the required torques are calculated using feedback linearization. Previous work showed that an HZD-like prosthesis controller can successfully control the stance period of gait. This paper shows that an HZD-based prosthesis controller can be used for the entire gait cycle and that feedback linearization can be performed using only information measured with on-board sensors. An analytic metric for orbital stability of a two-step periodic gait is developed. The results are illustrated in simulation.