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Many researchers have studied the actuation of piezoelectric actuators using a model of the hysteresis of piezoelectric transducer (PZT). However, these hysteresis modeling methods to remove the nonlinearity in PZT did not include the consideration of PZT’s creep effect which is a very important factor in many open-loop application of piezoelectric actuator. In order to compensate for the creep effect of PZT as well as the hysteresis of displacement, the notion of “voltage creep” is proposed in this article. And, with the notion, a new actuation method of piezoelectric actuators for removing the hysteresis and creep will be proposed and the actuation result will be presented. © 2000 American Institute of Physics.