This paper presents a nonlinear control to guarantee the global stabilization in the Ball and Beam system. The proposed control technique is the sliding mode control based on feedback linearization to improve the trajectory tracking of the desired reference. Also, Applying the concept of passivity, it can be seen the system is not asymptotically stable but can be stabilized in open loop if it reduces the nonlinear model. Simulations results are compared with a linear PD control to demonstrate the excellent performance of nonlinear control.