Abstract: On account of the complex nonlinear hysteresis behaviour of piezoceramic actuator, in this paper, a novel electromechanical coupling nonlinear lumped-parameter (ECNLP) model of piezoelectric dynamic system is proposed. In this model, not only the static and dynamic characteristics of piezoceramic stack's nonlinear hysperesis, but also the dynamics of elastic and motive components within actuator are considered simultaneously. Based on the proposed model, the input-output linearization theory is utilized to implement the exact linearization, and deduced a subsystem presented with a linear controllable normal form. Utilizing this subsystem, a nonlinear position tracking control system is developed for piezoceramic actuator by adopting LQ method, and the stability of remaining internal dynamics is validated similarly. At last, the control performance is confirmed through computer simulations.