Fuzzy logic controller (FLC) is an attractive alternative to existing classical or modern controllers for designing the challenging Non-linear control systems as it provides a heuristically method by If-Then Rules which resembles human intelligence. This paper presents the design and analysis of a FLC for the outer loop and a PD controller for the inner loop of a ball and beam system. Additionally, a classical PID controller based on ITAE equations for the beam position is also designed to compare the performance of both types of controllers. Results reveal that FLC found to give better transient and steady state results compare to classical PID.