This paper presents an Exact FeedForward Linearization controller combined with fuzzy-based gain scheduling for single DOF magnetic ball levitation system. The proposed method improves the previously reported techniques in terms of transient response behavior and tracking error. A Luenberger State estimator for the nonlinear/uncertain plant is implemented. Finally, the control law and the estimator are combined and applied experimentally to the magnetic ball levitation system. The results show the effectiveness and the robustness of this scheme regarding the increase of the dynamic range of the tracked signals and the presence of payload variation.