This paper focus on the modeling and control technology for piezoelectric actuators. The linear dynamics of piezoelectric actuators was described by a second order model. The complex double integral calculation was avoided by simplifying the classical Preisach model. An integrated controller was designed by integrating feedforward and feedback control technology. In feedforward controller, the inverse hysteresis loop was described by the simplified Preisach model. It provided an effective solution to the problem of irreversible Preisach model. The robustness of the system was effectively improved by the PID feedback controller. The error caused by the inaccuracy of the feedforward controller was also corrected by the feedback controller. The effectiveness of the model and the function of the controller were verified by experiments.