The objective of the paper is to develop a vibration control design procedure that uses a single actuator to suppress vibrations in many structural modes simultaneously by using acceleration feedback controllers. In this paper, a new technique, based on the cross-over point design, has been developed to compute the compensator parameters to achieve the objective. This new technique has been validated by both experimental studies and simulation studies. The new design procedure has also been compared experimentally and analytically to previous design of acceleration feedback controllers by using the critically damped compensators. Then, experimental and analytical investigations are directed to control more than one mode with a single actuator. This is demonstrated by using piezoceramic wafer actuators and an accelerometer sensor on a beam structure.