Polyvinylidene fluoride (PVDF) films are light, flexible, and have high piezoelectricity. Because of these advantages, they have been widely used as sensors in applications such as underwater investigation, nondestructive damage detection, robotics, and active vibration suppression. PVDF sensors are especially preferred over conventional strain gauges in active vibration control because the PVDF sensors are easy to cut into different sizes or shapes as piezoelectric actuators and they can then be placed as collocated pairs. In this work, to focus on demonstrating the dynamic sensing performance of the PVDF film sensor, we revisit the active vibration control problem of a cantilever beam using a collocated lead zirconate titanate (PZT) actuator/PVDF film sensor pair. Before applying active vibration control, the measurement characteristics of the PVDF film sensor are studied by simultaneous comparison with a strain gauge. The loading effect of the piezoelectric actuator on the cantilever beam is also investigated in this paper. Finally, four simple, robust active vibration controllers are employed with the collocated PZT/PVDF pair to suppress vibration of the cantilever beam subjected to impact loadings. The four controllers are the velocity feedback controller, the integral resonant controller (IRC), the resonant controller, and the positive position feedback (PPF) controller. Suppression of impact disturbances is especially suitable for the purpose of demonstrating the dynamic sensing performance of the PVDF sensor. The experimental results also provide suggestions for choosing between the previously mentioned controllers, which have been proven to be effective in suppressing impact-induced vibrations.