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Extract modal displacements from sensor outputs, known as modal sensing, is a key issue in independent modal space control. Spillover in the sensed modal displacements is usually inevitable when finite number of discrete sensors are used. This paper investigate the influence of the sensor configuration on spillover level and robustness of the modal sensor. It's found that the condition number of the modal sensor is the key factor. Thus, an optimization problem is developed to determine the optimal sensor configuration. The modified simulated annealing algorithm is employed to solve the problem. An clamped beam with five piezoelectric sensors is modeled using the finite method. Numerical simulations verified the theoretical analysis.