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An active vibration control approach of high-speed flexible robot with piezoelectric patch and strain gauges is presented by using discrete variable structure control with equivalent law. The experimental modal test method and modal truncation technique is applied to obtain the dynamic model of the system. The error state equations are obtained according to state equation and control requirements. The discrete variable control method with disturbance observer is applied to design the active vibration controller. The discrete Kalman filtering technique is employed to construct state estimator because the state variables cannot be directly measured. The first two natural frequencies and damping ratio are obtained by using experimental modal testing. Using dSPACE real-time simulation system and MATLAB/Simulink, the control system is built and the experimental vibration control is performed. The experimental results showed that the proposed controller can effectively reduce the vibration response of the flexible robot rapidly.