Both times I was in Madrid I stayed at Hotel Europa, which RS also uses for its tours. From there, it's a 15 minute walk downhill to the Prado, so slightly longer returning, or a short taxi ride. The Europa is on the Plaza del Sol, with easy metro and cercanias (suburban metro) access to both the train station and the airport. It's in the center of town. With luggage, use the cercanias - there's an elevator to street level. Taking the metro, you'll have to walk up one flight of stairs. The area around the Prado is fine, but I think Sol has more options for eating plus the convenience of the metro. The HOHO buses start at Sol so you may want to ride around and get an overview of the city on your first day. Check out the San Miguel market for grazing on tapas.
You may want to visit either the Thyssen (mainly Impressionists) or the Reina Sofia (20th c.) on your first day. They are much smaller than the Prado.
If you are flying round-trip Madrid, consider taking the train to either Sevilla or Cordoba on the 18th, then spending your last 2-3 nights in Madrid - that's if you are planning to return to Madrid on the 27th for a morning flight on the 28th. Saves one hotel change. Assuming you're flying out on the 28th a.m. you have 10 nights.
Cordoba (2N), morning train to Sevilla (3N), train/bus to Granada (2N), train/bus to Madrid (2N). Cordoba is my favorite Spanish city. It's quieter and smaller than Sevilla, a good place to relax and wander the well-preserved medieval Juderia for 1.5 days, see the beautiful, unique Mezquita and sample the city's small charming museums. Catch an early train (it's less than an hour's ride) to Sevilla and you'll have the better part of that day plus 2 more to enjoy, perhaps a day trip to Jerez and/or Cadiz or Arcos. Then train/bus to Granada in the morning, spend the rest of the day seeing the sights, your full day there at the Alhambra. Morning train/bus to Madrid, and 1/2 day for one of the art museums, and full day at the Prado. That gives you one extra day/night. I'd probably add it to Sevilla for more of that city's sights.