This paper deals with an input-output linearization for a nonlinear ice clamping system based on a Peltier element used in an innovative manufacturing system. For this model-based design, a third-order state-space model is derived based on physical principles, and an input-output linearization is proposed with an asymptotically stable internal dynamics. Accordingly, a robust sliding-mode tracking control is designed to accurately track a desired cold side temperature even in the presence of disturbances. Unknown states as well as disturbances are estimated by a gain-scheduled nonlinear state and disturbance observer that can be assigned a linear error dynamics. Meaningful simulation results are shown that point out the effectiveness of the proposed control approach.