The magnetic levitation system is a non-linear and irregular system where the control objective is to maintain the ball at a desired position under the influence of the magnetic force. To achieve this, internal model control (IMC) based feedback plus feedforward control is proposed. That is, an IMC based proportional integral derivative (PID) controller is designed to maintain a stable levitation whereas a feedforward compensator is used to reduce the impact of variations in set point. The accuracy of the proposed control structure is experimentally validated using a hardware setup of magnetic levitation in real time. Further, an error analysis based on various performance metrics such as integral of absolute error (IAE), integral of square error (ISE), and integral of time weighted absolute error (ITAE) are also presented.