In this study, we investigate a nonlinear control scheme to solve the practical issues such as inner coupling, load uncertainties, and model errors in the suspension control of maglev train. By considering the levitation module as an integral controlled object, the mathematical model of the levitation module is obtained. The inverse system method is adopted to deal with the inner coupling in the levitation module. By this way, the levitation module system is divided into two linear decoupled subsystems. Then, the linear quadratic regulator (LQR) theory is employed for achieving steady suspension. Besides, a disturbance nonlinear observer is designed to compensate the influence of load uncertainties and model errors. Furthermore, the availability of the proposed control scheme is validated through simulations and experimental results.