I'm not a resident of Madison, but I've enjoyed visiting your lovely, small city.
Unfortunately, the airlines generally can't get enough point-to-point traffic out of smaller cities, so, to get from Madison to Orlando, you have two choices: You can connect through an airline hub such as Chicago, Detroit, Memphis, Milwaukee, Cincinnati, or Dallas-DFW. Or you can drive to an airport with direct service, such as Milwaukee, Rockford, Chicago Midway, or Chicago Midway.
Milwaukee is about 90 minutes from Madison.
Midwest Airlines offers nonstop, scheduled service from General Mitchell International Airport (MKE)in Milwaukee to Orlando International Airport.
Rockford, Illinois, is also about 90 minutes from Madison.
Allegiant Air offers nonstop, scheduled service from Chicago Rockford International Airport to Orlando
Sanford International Airport. Please note that that's not the same as Orlando International Airport (MCO). When planning your total travel time, keep in mind the Sanford is quite a bit further from WDW than MCO.
I have no personal experience with Midwest Airlines or Allegiant Air. Of the two, Midwest Airlines (previously called Midwest Express) has been around much longer. Midwest has an excellent reputation.
You can use Disney's Magical Express for free transportation to your WDW resort from Orlando International Airport, but not from Orlando Sanford International Airport.
You have a lot of choices, but nonstop service from Madison to Orlando is not currently one of them. Take a look at the price, schedule, convenience, and airport parking rates for each of the options.