The ball and beam is a basic reference point system with high nonlinearity and unstable system in its dynamics. Many simple and present day control methods have been used to balance the ball and beam system. The goal of this project is to model and control the ball and beam system. Here considering the beam angle of servo motor and designing controllers to control the ball position. Lagrange approach is used to find the ball position of the system. It is based on energy balance of the system. Based on the transfer function and state space model, open loop system and closed loop system are designed. The system is designed by using two Degrees-of-Freedom. The nonlinear characteristic of the second order system is regulated by using PID controller. The controller controls the ball position in moving the beam using the motor and beaten the disturbances. The parameters of the PID are tuned using PID tuning Algorithm. In order to analyse the accomplishment of PID to learn the effect of simplifying expectation, two control methods are designed and implemented using Proportional Derivative Integral (PID) as non-model based control method, Proportional Derivative and Proportional integral combination of model based and non-model based control methods.