A servo control device for controlling a motor based on a position command when an operation target is connected to the motor via a wave gear reduction mechanism may include a position control system configured to detect a shaft angular position of the motor to perform a closed-loop control based on the shaft angular position; an inverse control element having an inverse characteristic of dynamics of the position control system; and a compensation amount generation unit configured to generate a compensation amount for compensating for an angular transmission error of the wave gear reduction mechanism. The inverse control element is configured to apply compensation amount to the position control system.