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Considerable attentions have been devoted recently to active vibration control using intelligent materials as sensors/actuators. This paper presents results on active control schemes for vibration suppression of flexible cantilever beam with bonded piezoelectric sensors and actuators. State equations which the generalized modal coordinates as variables are built. With the piezoelectric elements are surface-bonded near the same position to the fixed end of flexible cantilever beam, two active vibration control methods such as linear quadratic Gauss (LQG) optimal control and robust Hinfin control are investigated. Finally, the simulation results are given to demonstrate the effectiveness of the control method in this paper, compared with the LQG control method, robust Hinfin control has strong robustness to modal parameters variation, and it has a good closed-loop dynamic performance, can suppress the vibration better at the circumstance of the system with uncertainty factors.