This paper presents the modeling and two-degree-of-freedom motion control of a piezoelectric bimorph actuator with hysteresis compensation. It has been demonstrated that with correctly applied voltage, the hysteresis effect can be substantially reduced. However, there still remains the problem of control. Two-degree-of-freedom control is a robust control technique that is effective for this actuator. It consists of a feed-forward controller based on an inverse system and a stabilizing feedback controller. Both experimental and numerical results are presented and show the effectiveness of both the control technique and the modeling method.