Magnetic levitation module is the key component of maglev train that generates the electromagnet force to bear the weight of the vehicle cabin. In this paper, the mathematical model of the levitation module is built as a two-input and two-output coupled system whose state variables include the vertical linear motion and the rotational motion around the mass center, which fully considers the mechanical coupling and force interference. To alleviate the variation of the module, a framework of robust immersion and invariance (I&I) adaptive synchronization control with disturbance observer is presented for the levitation module. To deal with the bad effects of parametric uncertainties and external disturbances on the system performance, especially on system outputs, we introduce Barrier Lyapunov Function (BLF) into controller to keep the outputs in the prescribed constraints. The robust I&I adaptation law is used to shape the converging procedure of the estimate errors of the parametric uncertainties. An extended disturbance observer is developed to recover the mismatched disturbances of the maglev module simultaneously. The stability analysis shows that all the signals in the closed-loop system are bounded and output constraints are not violated as well. The effectiveness of the proposed scheme is verified by a numerical simulations at last.