Chaotic vibrations may appear in nonlinear energy harvesting systems, which can be problematic when using the recovered power, as it may require an extra expenditure of energy to rectify the voltage signal or reduce the harvesting process efficiency when charging the battery. Both cases can derail the energy harvester's functionality. An alternative in this situation is to explore chaos control to stabilize the system dynamics so that the recovered voltage signal is regular and more suitable for use in the applications of interest. This paper address this problem employing an extended delayed feedback method that combines a displacement actuator and a digital controller to implement the control mechanism. The control strategy is mathematically formulated and tested in a bistable energy harvesting system that often operates in a chaotic regime. The controller shows itself capable of stabilizing the chaotic dynamics at a very low energetic cost.