Provided is a servo controller that can prevent an unnecessary cut from being generated in a workpiece during oscillation machining. A servo controller 20 includes: an oscillation command generating unit 23 that generates an oscillation command for causing a workpiece W and a tool 11 to relatively oscillate; a position deviation estimating unit 31 that estimates an estimated position deviation from a moving command for causing the workpiece W and the tool 11 to relatively move; an adder that applies the oscillation command to a position deviation based on the moving command; a subtractor that deducts the estimated position deviation from a position deviation to which the oscillation command is applied; and a learning control unit that calculates a compensation amount from a position deviation based on the moving command after deducting the estimated position deviation.