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A direct method for simultaneously updating mass and stiffness matrices of the undamped piezoelectric smart structural models based on incomplete modal measured data is presented. By applying the generalized singular value decomposition and some matrix derivatives, the optimal approximate mass and stiffness matrices which satisfy the required eigenvalue equation and the orthogonality relation are found under the Frobenius norm sense. The method is computationally efficient as neither iteration nor eigenanalysis is required. Numerical results are included to illustrate the effectiveness of the proposed method.