To improve the positioning accuracy of the piezoelectric microstage, a feedforward controller is designed to control the output displacement of the stage. Firstly, without reducing the accuracy requirement, the hysteresis curve section with larger nonlinearity is subdivided and the section with better linearity is sparsely divided according to the characteristics of the hysteresis curve of the piezoelectric microstage. Then, a PrandtlIshilinskii (PI) hysteresis model with variableinterval thresholds is established. Afterwards, the feedforward control algorithm of the stage is given by inverting the hysteresis model of the stage. Finally, the designed feedforward controller is applied to the stage and the actual control experiments are conducted. The results show that the response time of the stage is 0.01 s and no overshoot phenomenon occurs under the desired step excitation of 4 μm. Meanwhile, the steadystate error midline is reduced from 0.4~0.5 μm (without control) to 0~0.2 μm. For an attenuated triangular wave with the maximum amplitude of 20.7 μm, the maximum positivenegative deviation of the positioning error midline of the stage is reduced from 3.82 μm (without control) to 1.15 μm. Accordingly, the hysteresis error of the piezoelectric microstage can be effectively reduced by the designed controller.