Piezoelectric materials possess really high potential to deliver nano-scale or micro-scale positioning resolution, huge blocking force, and fast response; hence they are widely utilized in a variety of engineering applications and product designs. However, a higher and unacceptable positioning error always occurs due to the hysteresis effect of the piezoelectric materials. For high-precision applications, this natural behavior should be eliminated. For solving this problem, a nonlinear control design based on concepts of Bouc-Wen model, system identification, and the proportional-integral-derivative (PID) control design is proposed. The proposed control design can be divided into the following four steps: 1. Input and output behaviors of piezoelectric materials are firstly mathematically described with Bouc-Wen model, 2. System parameters in Bouc-Wen model for representing the characteristics of piezoelectric materials then simultaneously identified with respect to practical input and output data of piezoelectric materials, 3. Stability verification for this identified Bouc-Wen model should be done in the next, and 4. A PID control is elegantly derived finally via minimizing the tracking error performance index and is practically realized for nano-scale tracking design. One important contribution of this investigation is that the tracking error between output displacement of mathematical modeled piezoelectric materials and desired trajectory can be proven to exponentially converge to zero.