A novel planar magnetic suspension bearing in the field of precision engineering has been introduced in this paper, which is suspended through three sets of suspension coil and driven in the level through three sets of linear motor. To aim directly at the suspension system of the planar magnetic suspension bearing which is a parameter perturbation, multivariable, nonlinear and strong coupling system, a modified auto-disturbance rejection controller(ADRC) is proposed to overcome the rough character of non-linear function in nonlinear state error feedback of conventional ADRC and improve its control character. The result of simulation and experiment indicate the suspension control system of the Planar Magnetic Suspension bearing has better dynamic,static and robust characters by using modified auto-disturbance rejection controller.