Based on the model approximation, adaptive controller gains are designed to achieve position and tracking performance. The effect of conjecture errors and outsidedisturbances will be attenuate to a particular level using direct Adaptive Controller method gives that all signals involved are bounded in the output ofthe system will asymptotically tracks the desired output path. So, the direct adaptive controller is applied on Ball and Beam system in order to track the position and tracking control of the ball and beam system using MATLAB is demonstrated.

Keywords : Ball and Beam, Modeling, Adoptive Controller.