This chapter presents the precision motion control of a piezoelectric bimorph actuator without using a hysteresis model and a state observer. A digital sliding-mode control (DSMC) scheme is developed based on a second-order plant model of the system. The nonlinearity effect is considered as a lumped perturbation, which is estimated by resorting to a one-step delayed estimation technique. The effectiveness of the approach without using state observer and hysteresis model has been validated by experimental investigations.