In this paper, vibration control is investigated for a smart carbon fiber reinforced plastics (CFRP) composite beam embedded by piezoceramics (PZT) and electro-rheological fluids (ERF) . A fuzzy model of the controlled element containing two actuators is formed because the application of linear control theory to the vibration control is very difficult due to the intensive nonlinearity in the ERF actuator. The time delay of the response of the actuators is also taken into consideration in this study. A controller for vibration suppression of the composite beam is designed based on the fuzzy model for guranteeing stability of the vibration control system. The effect of the control system is verified by experiment and simulation.