<p>This paper addresses the position tracking control problem for magnetic levitation systems subject to output constraints. First, a novel non-singular terminal sliding surface is recursively constructed, which serves as the basis for developing a non-singular terminal sliding mode controller (NTSMC) to guarantee finite-time trajectory tracking. To eliminate the chattering phenomenon inherent in the NTSMC, a continuous NTSM composite controller is further proposed by integrating the NTSMC with an adaptive finite-time disturbance observer. Furthermore, to handle output constraints, the tracking control problem is formulated as a quadratic programming problem with constraints defined by control barrier functions, which is solved online to synthesize a safety-critical controller. Rigorous theoretical analysis proves that the overall control scheme renders the safe set forward invariant while guaranteeing convergence of the tracking error. Finally, numerical simulations are conducted to verify the effectiveness of the proposed control scheme.</p>