良い, 良いです. past tense is 良いでした. the stem す changed to し + た.
In modern Japanese, the shorten form for です is た.
良かった , it is the shorten form for 良いです, meaning: it is good.
Additon:
良かったです, in your question 良かった is a noun, and です is a verb. 良 and かった have to be together in forming a noun. Just to find the meaning of かった, it doesn't make sense.