Aiming at the problem that the rate-dependent characteristics of piezoelectric ceramic actuators seriously reduce the control accuracy of the application side,the internal model control strategy based on the Hammerstein-like model is studied in this paper. The nonlinear part is represented by the least squares support vector machine model, and the dynamic linear part is represented by the autoregressive traversal model. On this basis, the inverse model of the system is constructed, and then the internal model controller is designed to realize the tracking control of the piezoelectric ceramic actuator. Finally, it is verified by the experimental platform. The experimental results show that the relative error of the expected signal within 100 Hz of real-time tracking is less than 10%, which proves the effectiveness of the designed internal model control scheme.