diff --git a/src/Factory/RpcControllerFactory.php b/src/Factory/RpcControllerFactory.php
index 9f21339..a8aa4eb 100644
--- a/src/Factory/RpcControllerFactory.php
+++ b/src/Factory/RpcControllerFactory.php
@@ -14,6 +14,15 @@
 
 class RpcControllerFactory implements AbstractFactoryInterface
 {
+    /**
+     * Marker used to ensure we do not end up in a circular dependency lookup
+     * loop.
+     *
+     * @see https://github.com/zfcampus/zf-rpc/issues/18
+     * @var null|string
+     */
+    private $lastRequestedControllerService;
+
     /**
      * Determine if we can create a service with name
      *
@@ -118,10 +127,15 @@ private function marshalCallable($string, ContainerInterface $container)
         $callable = false;
         list($class, $method) = explode('::', $string, 2);
 
-        if ($container->has('ControllerManager')) {
+        if ($container->has('ControllerManager')
+            && $this->lastRequestedControllerService !== $class
+        ) {
+            $this->lastRequestedControllerService = $class;
             $callable = $this->marshalCallableFromContainer($class, $method, $container->get('ControllerManager'));
         }
 
+        $this->lastRequestedControllerService = null;
+
         if (! $callable) {
             $callable = $this->marshalCallableFromContainer($class, $method, $container);
         }
diff --git a/test/Factory/RpcControllerFactoryTest.php b/test/Factory/RpcControllerFactoryTest.php
index 4492b2a..d8ec7d4 100644
--- a/test/Factory/RpcControllerFactoryTest.php
+++ b/test/Factory/RpcControllerFactoryTest.php
@@ -10,7 +10,9 @@
 use PHPUnit\Framework\TestCase;
 use Prophecy\Prophecy\ProphecyInterface;
 use ReflectionProperty;
+use Zend\EventManager\EventManagerInterface;
 use Zend\Mvc\Controller\ControllerManager;
+use Zend\Mvc\Controller\PluginManager;
 use Zend\ServiceManager\Exception\ServiceNotCreatedException;
 use Zend\ServiceManager\ServiceLocatorInterface;
 use ZF\Rpc\Factory\RpcControllerFactory;
@@ -287,4 +289,42 @@ public function testServiceCreationReturnsRpcControllerWrappingCallableForValidC
         $this->assertInstanceOf(RpcController::class, $controller);
         $this->assertAttributeSame($callable, 'wrappedCallable', $controller);
     }
+
+    /**
+     * @group 7
+     * @see https://github.com/zfcampus/zf-rpc/issues/18
+     */
+    public function testFactoryDoesNotEnterACircularDependencyLookupCondition()
+    {
+        $config = [
+            'controllers' => [
+                'abstract_factories' => [
+                    RpcControllerFactory::class,
+                ],
+            ],
+            'zf-rpc' => [
+                TestAsset\Foo::class => [
+                    'callable' => TestAsset\Foo::class . '::bar',
+                ],
+            ],
+        ];
+
+        $this->services->has('config')->willReturn(true);
+        $this->services->get('config')->willReturn($config);
+
+        $this->services->has(TestAsset\Foo::class)->willReturn(false);
+
+        $this->services->get('EventManager')->willReturn($this->prophesize(EventManagerInterface::class)->reveal());
+        $this->services->get('ControllerPluginManager')->willReturn($this->prophesize(PluginManager::class)->reveal());
+
+        $controllerManager = new ControllerManager($this->services->reveal(), $config['controllers']);
+
+        $this->services->has('ControllerManager')->willReturn(true);
+        $this->services->get('ControllerManager')->willReturn($controllerManager);
+
+        $this->assertTrue($controllerManager->has(TestAsset\Foo::class));
+
+        $controller = $controllerManager->get(TestAsset\Foo::class);
+        $this->assertInstanceOf(RpcController::class, $controller);
+    }
 }