<p>Within active vibration control (AVC) Lead Zirconate Titanate (PZT) elements are a very popular choice as both sensors and actuators. Notably they have a smaller influence on the stiffness and mass of the host structure and have a high force output to weight/size ratio compared to alternatives. This research envisions their use with a flexible robot manipulator link within an AVC application. For systems using PZT sensors it has been previously found that their characteristics provide unconventional responses when part of a control system. Thus, this research aims to investigate this further through the employment of a proportional-integral-derivative (PID) control scheme in addition to combinations of the constituent gains. Additionally, the dynamics of a system including PZT sensors and/or actuators subsequently lead to issues with employing popular PID tuning methods. Thus, two alternative methods are employed to obtain the gains for the system, parametric sweeps of the gains, and an optimisation of them based on the minimisation of the integral of the time-weighted absolute error (ITAE).</p>