Abstract. This paper presents the analytical and experimental results on optimal placement of piezoceramic actuators for shape control of beam structures. The objective is to determine the optimum piezoceramic actuator locations and voltages to minimize the error between the desired shape and the achieved shape. The analytical model for predicting beam deformation due to a piezoelectric actuator is based on the Euler-Bernoulli model. The cost function has fifth-order polynomials in the actuator locations and second-order polynomials in actuator voltages. This difference resulted in difficulty in simultaneous optimization of actuator locations and voltages. Using embedded Nader and Mead simplex algorithms to separately optimize actuator locations and voltages was found to produce reliable results, converging to the same optimum solution for a variety of initial conditions. Experimental results show that the analytical model provides a reasonable prediction of actuator performance at low input voltage, but does not account for the nonlinear behavior of the piezoceramic and effects of hysteresis.