In recent years, the weight of the robotic arm has been reduced to achieve high-speed operation in robotic industry. On the other hand, the rigidity of the arm is reduced and the vibration is increased. Its vibration must be suppressed to prevent accuracy in work to be decreased. In this paper, the piezoelectric actuator is used as an actuator to control the vibration of the L-shaped arm. However, hysteresis nonlinearity exists in the piezoelectric actuator. The operator based control system of the L-shaped arm is designed and its stability is confirmed by simulation. Moreover, CPG corresponding to hysteresis nonlinearity is considered and is added to the control system. The effect of vibration suppression is verified by simulation.