A dynamic modelling and controller design were presented for a single-link smart materials beaun, a flexible beam bonded with piezoelectric actuators and sensors for better control performance. Taking into account bounded disturbances, a robust distributed controller was constructed based on the system model, which was described by a set of partial differential equations (PDEs) and boundary conditions (BCs). Subsequently, a finite dimensional controller was further developed, and it was proven that this controller can stabilize the finite dimensional model with arbitrary number of flexible modes.