This paper presents a comprehensive model for piezoceramic actuators (PAs), whichaccounts for hysteresis, non-linear electric field and dynamic effects. The hysteresismodel is based on the widely used general Maxwell slip model, while an enhancedelectro-mechanical non-linear model replaces the linear constitutive equations commonlyused. Further on, a linear second order model compensates the frequency response of theactuator. Each individual model is fully characterized from experimental datayielded by a specific PA, then incorporated into a comprehensive ‘direct’ modelable to determine the output strain based on the applied input voltage, fullycompensating the aforementioned effects, where the term ‘direct’ represents anelectrical-to-mechanical operating path. The ‘direct’ model was implemented in aMatlab/Simulink environment and successfully validated via experimental results,exhibiting higher accuracy and simplicity than many published models. This simplicitywould allow a straightforward inclusion of other behaviour such as creep, ageing, materialnon-linearity, etc, if such parameters are important for a particular application.Based on the same formulation, two other models are also presented: the first is an‘alternate’ model intended to operate within a force-controlled scheme (instead of adisplacement/position control), thus able to capture the complex mechanical interactionsoccurring between a PA and its host structure. The second development is an ‘inverse’model, able to operate within an open-loop control scheme, that is, yielding a ‘linearized’PA behaviour. The performance of the developed models is demonstrated via anumerical sample case simulated in Matlab/Simulink, consisting of a PA coupled to asimple mechanical system, aimed at shifting the natural frequency of the latter.