A pickup control device includes a servo system which processes a first signal for error control read from an optical disk to generate a servo control signal. A clock signal is synchronized with the rotation of the optical disk. Two memories store a frequency component at or lower than a predetermined frequency contained in the first signal and a rotational frequency component contained in the first signal. A first adder adds data from the first memory to the first signal and a second adder, in synchronization with the clock signal, data from the memories to generate a second signal. A correction unit writes into the second memory the frequency component or the rotational frequency component and reads data and supplies data to the first adder, and reads and updates data stored in the first memory.