Abstarct: In the research, the equations of motion of a tensioned beam and 3 degrees of freedom system baxsed on the principle of Hamilton has derived from the stress. Using that resultant, linear and nonlinear equations for both the contact and separation of a tensioned beam is obtained for 3 degree of freedom system. After making equations dimensionless, variables are isolated using Galerkin method and time equations are solved using Runge-kutta method subsequently. The linear and nonlinear analysis for a tensioned beam and 3 degrees of freedom are accomplished and the results were compared and the effect of efficacious parameters were studied. The linearize feedback controller were applied to 3 degrees of freedom to reduce the separation and reach to it's minimum value. Then, pantograph was considered with 1 degree of freedom (mass, linear spring and linear damper) and controller applied to the pantograph. The results of the study indicate that using linear feedback control significantly reduces separation.