This paper presents a study on the linear compensation of nonlinear hysteretic piezoelectric ceramic actuators. Both the feedback control using the strain guage output and the self-sensing control technique are investigated. In the strain feedback control, the strain on the surface of the actuator is measured directly by using the strain gauge and the output is fed back to the input voltage to decrease the actuator hysteresis. In the self-sensing control, the voltage generated by the piezoelectric effect of the actuator is detected by a bridge circuit and then used as a feedback signal to compensate for the nonlinearity of the actuator. The experimental results show that the self-sensing feedback control is more efficient to reduce the hysteresis of the actuator. Further, the self-sensing compensator is more simple and needs no additional external sensing devices.