1. 1. Peter Wellstead, “Ball and Beam 1: Basics”, http :// www.control systemspriciples.co.uk /whitepapers /ball -and- beam1.
   2.  “Ball & Beam: system modeling‟, www.ctms.engin.umich.edu
   3. Farhan A. Salem, “Mechatronics Design of Ball and Beam System: Education and Reaearch,” Control Theory and Informatics, vol 3, no.4, pp 1-26, 2013.
   4. K.Krishnaswamy, “Process Control,” New Age International Pvt Ltd Publishers, 2009.
   5. AbdulrahmanA.A.Emhemed, “Fuzzy Control for Nonlinear Ball and Beam System,” International Journal of Fuzzy Logic Systems, vol. 3, no. 1, pp 25- 32, January 2013.
   6. Wen Yu, “Nonlinear PD Regulation for Ball and Beam system,” International Journal of Electrical Engineering Education, vol.46, no.1, 2009.
   7. Sigurd Skogestad, “Probably the best simple PID tuning rules in the world,”submitted to Journal of Process Control, September 2001.
   8. Sigurd Skogestad, “Simple analytic rules for model reduction and PID controller tuning,” Journal of Process Control, vol 13, pp 291-309, 2003.
   9. S.Sathiyavathi and K.Krishnamoorthy, “PID control of ball and beam system- A real time experimentation,” Journal of Scientific & Industrial Research, vol. 72, pp 481-484, August 2013.
   
   
2. 1. Peter Wellstead, “Ball and Beam 1: Basics”, http :// www.control systemspriciples.co.uk /whitepapers /ball -and- beam1.
   2. “Ball & Beam: system modeling‟, www.ctms.engin.umich.edu
   3. Farhan A. Salem, “Mechatronics Design of Ball and Beam System: Education and Reaearch,” Control Theory and Informatics, vol 3, no.4, pp 1-26, 2013.
   4. K.Krishnaswamy, “Process Control,” New Age International Pvt Ltd Publishers, 2009.
   5. AbdulrahmanA.A.Emhemed, “Fuzzy Control for Nonlinear Ball and Beam System,” International Journal of Fuzzy Logic Systems, vol. 3, no. 1, pp 25- 32, January 2013.
   6. Wen Yu, “Nonlinear PD Regulation for Ball and Beam system,” International Journal of Electrical Engineering Education, vol.46, no.1, 2009.
   7. Sigurd Skogestad, “Probably the best simple PID tuning rules in the world,”submitted to Journal of Process Control, September 2001.
   8. Sigurd Skogestad, “Simple analytic rules for model reduction and PID controller tuning,” Journal of Process Control, vol 13, pp 291-309, 2003.
   9. S.Sathiyavathi and K.Krishnamoorthy, “PID control of ball and beam system- A real time experimentation,” Journal of Scientific & Industrial Research, vol. 72, pp 481-484, August 2013.
   10. John Hauser, Shankar Sastry and Petar Kokotovic, “Nonlinear Control Via Approximate Input-Output Linearization: The Ball and Beam Example,” IEEE Transactions on Automatic Control, vol 37, no.3, pp 392-398, March 1992.