COold you povide more details about things you need?
During my stuides i had task during nonlinear control systems course to develop several control methods for Ball & Beam system.
I developed and simulated following methods using Matlab & Simulink:
1. PID controller
2. Feedback linearization controller
3. Boundary Layer Sliding mode controller
4. Fuzzy Controller
I think that your request is similar to tasks I already completed. I can translate and send you my previous work so you can take a look.