A method for controlling a piezoelectric actuator includes: a safety range setting process in which a safety range V.sub.range1 or V.sub.range2 of an applied voltage is set so that an area of 180.degree. domain rotation is within one third or less of an area of full 180.degree. domain rotation S.sub.1 or S.sub.2 in a positive or negative region of the applied voltage; and a driving process in which the voltage is applied to the piezoelectric actuator with a limitation of the safety range V.sub.range1 or V.sub.range2. A controller which drives a piezoelectric actuator according to the controlling method is also provided. A temperature compensation is applied if necessary. The 180.degree. domain rotation is limited by the lower or upper limit of the safety range, so that local concentration of inner stress is suppressed and the actuator is driven at its maximum ability without cracks or splits.