A feed axis control method of a machine tool, including forming a cascade connection in which a speed feedback loop including a speed control part into which a speed command is inputted is provided inside a position feedback loop including a position control part into which a position command is inputted, and controlling a servo motor for driving a feed axis in accordance with a torque command outputted from the speed control part, the method comprising: arranging one or more state sensors on at least one of a machine structure that vibrates with respect to a point corresponding to an output of the servo motor and an axis feed mechanism that vibrates with respect to a point corresponding to an output of a servo motor, wherein the servo motor is configured to drive the machine structure through the feed axis, the one or more state sensors including at least one of an acceleration detector attached to the machine structure and a position detector attached to the axis feed mechanism; obtaining an acceleration based on an output signal of the state sensor and subtracting an acceleration feedback signal in which the obtained acceleration is multiplied by a predetermined first gain from the torque command outputted from the speed control part; obtaining a speed based on an output signal of the state sensor and adding a signal in which the obtained speed is multiplied by a predetermined second gain to the acceleration feedback signal; and performing at least one of controls consisting of a control in which a speed is obtained based on the output signal of the state sensor and a signal in which the obtained speed is multiplied by a predetermined gain is added to the speed command outputted from the position control part, and a control in which a position is obtained based on the output signal of the state sensor and a signal in which the obtained position is multiplied by a predetermined gain is added to the position command inputted into the position control part. arranging one or more state sensors on at least one of a machine structure that vibrates with respect to a point corresponding to an output of the servo motor and an axis feed mechanism that vibrates with respect to a point corresponding to an output of a servo motor, wherein the servo motor is configured to drive the machine structure through the feed axis, the one or more state sensors including at least one of an acceleration detector attached to the machine structure and a position detector attached to the axis feed mechanism; obtaining an acceleration based on an output signal of the state sensor and subtracting an acceleration feedback signal in which the obtained acceleration is multiplied by a predetermined first gain from the torque command outputted from the speed control part; obtaining a speed based on an output signal of the state sensor and adding a signal in which the obtained speed is multiplied by a predetermined second gain to the acceleration feedback signal; and performing at least one of controls consisting of a control in which a speed is obtained based on the output signal of the state sensor and a signal in which the obtained speed is multiplied by a predetermined gain is added to the speed command outputted from the position control part, and a control in which a position is obtained based on the output signal of the state sensor and a signal in which the obtained position is multiplied by a predetermined gain is added to the position command inputted into the position control part.