This paper presents a robust force tracking control of a flexible beam using piezoceramic actuator. Based on the variable structure model reference adaptive control theory, a new force tracking control system using only force measurement is designed. For the derivation of the control law, it is assumed that parameters of the beam and contact surface stiffness are unknown. It is shown that in the closed-loop system designed using bounds on uncertain functions, the contact force tracks a given reference trajectory and beam vibration is suppressed. Digital simulations results show that the closed-loop system has a good transient behavior and robustness to uncertainties of beam’s dynamic parameters and unmodeled dynamics as well as contact surface property, which is modeled by a spring.