This paper presents an adaptive fuzzy estimator sliding mode position control design for robust stabi-lization and disturbance rejection for a magnetic ball suspension system (MBSS). In general, the conven-tional sliding mode control design assumes that the upper boundary of the parameter variations and ex-ternal disturbances is known and the sign function is used. It causes high frequency chattering and high gain phenomenon. In this paper, we propose a novel adaptive fuzzy estimator sliding mode control for the MBSS to avoid the high gain and reduce the chatter-ing magnitude. The parameter variation and external disturbance estimator is designed to estimate the un-known lumped uncertainty values in real-time. This is different from the conventional fuzzy sliding mode control which estimates the unknown upper bound-ary uncertainty. This method utilizes a Lyapunov function candidate to guarantee convergence and asymptotically track the MBSS position commands. We employ experiments to validate the proposed method.