This paper presents two-degree-of-freedom motion control of a piezoelectric bimorph actuator with hysteresis compensation that does not use any external sensors. It has been demonstrated that the hysteresis characteristic can be reduced by the bridge circuit. However、 there is a problem to control the position and compensate for the hysteresis characteristics. This research work proposes a valid modelling method for hysteresis compensation and position control. Two-degree-of-freedom control is one of the robust control techniques that are effective for this actuator. It is a control system configuration that adds Linear Quadratic Integral control as a feedback controller to feed forward controller based on the inverse system. Experimental results validated both the control technique and the modelling method. However the experimental results used the values measured by external instruments. This paper proposes a control system configured to feedback the estimated value of the observer instead of the measured values by the external instruments. The experimental results show the effectiveness of the proposed control system configuration.