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This paper presents a comprehensive model for piezoceramic actuators (PAs), which accounts for hysteresis, non-linear electric field and dynamic effects. The hysteresis model is based on the widely used general Maxwell slip model, while an enhanced electro-mechanical non-linear model replaces the linear constitutive equations commonly used. Further on, a linear second order model compensates the frequency response of the actuator. Each individual model is fully characterized from experimental data yielded by a specific PA, then incorporated into a comprehensive'direct'model able to determine the output strain based on the applied input voltage, fully compensating the aforementioned effects, where the term'direct'represents an electrical-to-mechanical operating path. The'direct'model was implemented in a Matlab/Simulink environment and successfully validated via experimental results, exhibiting higher …