This paper presents an ESO based Control design for ball and beam system which is one of the most sought after problem for control engineering students. The system comprises a long beam which is moved by using servo motor and a ball on which it rolls with respect to Beam motion. In this design, estimation of a virtual state ("disturbance") is carried out online with state observer and these states are used in controller to nullify the effects of actual disturbances and uncertainties in the plant. While designing controller, simpler model is used, thus avoiding accurate modeling of the system. Any nonlinear term and unknown parameter in the plant can be considered as internal or external disturbance. This is the peculiar feature of automatic disturbance rejection control or ESO based control scheme. Hence, linearized model of ball and Beam is considered. All simulations have been carried out with the help of MATLAB and SIMULINK. Using this algorithm, controller shows very good disturbance rejection capability and it has been shown with simulation results. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.