Aiming at the ratedependent hysteresis characteristics of piezoelectric ceramic actuators, a Hammerstein ratedependent hysteresis nonlinear model based on the generalized Bouc-Wen model is established. The generalized BoucWen model and the autoregressive exogenous model are used to represent the static nonlinear part and the linear dynamic part in the Hammerstein model respectively, and the model parameters are identified. On this basis, the inverse model of Hammerstein model is obtained, and the internal model control scheme is designed by constructing its forward and inverse models. Finally, the control scheme is verified on the experimental platform. The experimental results show that the relative error of tracking control for the desired signal in the range of 100 Hz is less than 9%, which proves the effectiveness of the proposed model and internal model control strategy.