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In recent years, the use of smart structures presents more efficient solutions to most of active vibration control problems in flexible mechanical systems due to significant advances in sensor and actuator technologies. Piezoelectric materials can be used as a sensor and/or an actuator in active vibration control because of their electromechanical coupling property. The commonly used type of piezoelectric materials is PZT (lead-zirconate-titanate) piezoceramics. Smart structures are produced by bonding these piezoelectric materials on flexible mechanical systems. This study presents a robust approach for modeling and controlling of a cantilever flexible beam comprising a piezoelectric sensor and actuator by MATLAB software. Firstly, the parameter uncertain modeling of the flexible cantilever aluminum beam with a piezoelectric sensor and actuator is created. Then, generalized plant model is constituted of the uncertain model, and H∞ controller is designed and computed. Obtained simulation results in time and frequency domain reveal that proposed H∞ controller is able to suppress vibration of the smart beam in the first out-of-plane bending mode. [ABSTRACT FROM AUTHOR]