This paper presents a pressure output feedback control of turbo compressor surge using tip clearance actuation with a thrust magnetic bearing actuator. First, static and dynamic compressor models were obtained for a commercial turbocharger, and the surge point was found through local stability analysis. Then, the effect of tip clearance on the compressor pressure rise was derived, and Lyapunov analysis was used to establish a limit of stability with tip clearance modulation. After that, a linear quadratic (LQ) state feedback control was designed considering the limit established by the Lyapunov analysis. In addition, an extended Kalman filter (EKF) was designed to estimate the mass flow rate from the measured compressor pressure. Finally, the pressure output feedback controller was built by combining the LQ state feedback control and EKF. Control simulation proved the effectiveness of the output feedback controller.