A servo control method of controlling a plant to track a reference trajectory with enhanced accuracy using a reference signal and its derivative signals, an apparatus and a recording medium suitable for same. The servo control method includes: determining a polynomial indicating a reference trajectory desired by a plant and derivatives of the polynomial; sampling a plant output with respect to a plant input; generating a reference signal and its derivative signals with reference to a time between samples (a relative time); and determining a plant input at a sampling time using the generated reference signal and its derivative signals, a delayed plant input and a delayed plant output. Accordingly, a plant is controlled to track a reference trajectory with enhanced accuracy using a reference signal and its derivative signals.