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This paper presents a hybrid control method for vibration control of active structures. The proposed controller comprises a Proportional Derivative (PD) controller for broad band disturbance rejection and a repetitive controller for narrow band disturbance rejection. The study embeds the repetitive controller by solving a Bezout identity satisfying deterministic constraints into an existing PD feedback control loop. The applied method has two main advantages: (1) each controller design is modularized with an “add-on” property for performance improvement; (2) it shows superior vibration suppression performance subject to both impulse and persistent excitation. The experimental results on a piezoelectric cantilever beam demonstrate the effectiveness of the proposed hybrid controller design method.