STEERING SYSTEM

A steering system is provided which more appropriately alleviates driver's discomfort in the wrists. A steering ECU 40 has an estimated grip angle calculating circuit 41, a deviation calculating circuit 42, an automatic steering torque command value calculating circuit 43, and a grip angle command value calculating circuit 44. The estimated grip angle calculating circuit 41 calculates an estimated grip angle θ2e based on a steering angle θ1. The deviation calculating circuit 42 calculates a deviation dθg based on the steering angle θ1, a steering angle deviation dθs, and the estimated grip angle θ2e. The grip angle command value calculating circuit 44 calculates a grip angle command value θg* that is a sum of a grip angle θ2 and the deviation dθg.