The objective of this paper is to study the dynamics and control of an Euler-Bernoulli beam with an attached mass rolling on an initially curved beam based on a simplified control model. The optimization of the performance index of linear quadratic regulator (LQR) is considered. Three actuators are placed along the beam that provide the necessary forces to control the response of the beam-mass system. Based on Euler-Bernoulli beam theory and Newtonian mechanics, the coupled non-linear equations of motion combining with a simple closed-loop feedback control are obtained. Results of present study show that with appropriate regulator design, the vibration of the system can be suppressed significantly even if a simplified control model is applied.

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