PURPOSE:To prevent the captioned servo control device from being influenced by the characterisitic of an object to be controlled by preparing a model of the object to be controlled and constituting inverse function compensation element by condition amount of the model. CONSTITUTION:A model 11 expressing characteristic of a machine 8 is provided and an inverse function compensating element of the machine 8 is constituted from a speed estimation value an acceleration estimation value of the model 11, and from an actual displacement detection value x' of the machine 8. By this, the inverse function compensating element can be constituted in a complete form, then servo control which is not influenced by the characteristic of an object to be controlled can be realized.
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