A servo control method capable of raising a band of speed loop stably and setting position loop gain to a satisfactory level. A torque command from a speed loop is sent through a filter whose transfer function has a numerator of the second degree and a denominator of the third degree. The filter has frequency characteristics shown in the figure in which at resonance frequency of an object to be controlled, phase lag in the band of speed loop is decreased and the gain in a high frequency region is decreased. This enables the gain of the speed loop to be increased stably without causing oscillation. Also, the high frequency disturbance can be removed. <IMAGE>
