This paper mainly investigates the control for the ball and beam system. Combined with the conventional dynamic surface control, an adaptive fuzzy scheme is proposed for the equilibrium balance of the ball. First, with the proper defined tracking errors of state variables, an integrating of tracking errors is considered as the fuzzy input. The parameters of fuzzy controller can be optimized by using the proposed adaptive mechanism such that the control performance can be improved. For the proposed control scheme, the closed-loop stability is also analyzed by the Lyapunov theorem. Simulations are performed to evaluate the effectiveness of the proposed works. From simulation results, the proposed adaptive fuzzy dynamic surface control scheme can provide better tracking responses than the conventional dynamic surface control counterparts.