A servo controller (10) includes a reversal change calculating part (24) which uses the position of a moving member (19) as the basis to calculate the amount of change of the position of the moving member, a distance calculating part (25) which uses a position of the moving member as the basis to calculate a distance from the servo motor to the moving member, an approximation equation determining part (26) which uses the amount of change of the position of the moving member, distance, and the torque command as the basis to calculate a position correction amount which corrects delay of the servo motor due to reversal of the servo motor, and a position correction calculating part (27) which uses the approximation equation as the basis to calculate the position correction amount.