A servo control apparatus includes a motor including a motor shaft, the motor for driving a drive subject; a detecting section that detects a rotation position of the motor shaft; and a control system configured to generate a motor torque command for the motor using the rotation position. The control system includes an observer configured to estimate friction torque occurring in the vicinity of the motor shaft on the basis of the rotation position and an application voltage to the motor. The observer is configured to generate a compensation voltage to be added to the application voltage on the basis of the friction torque.