A steering system comprising: a motor that applies an assist force to a steering mechanism of a vehicle; and a motor control unit that controls driving of the motor based on an assist command value (Ta*) corresponding to a target value for an output torque of the motor, wherein the motor control unit being characterized by: an angle command value calculating unit that calculates an angle command value (θt1*) corresponding to a target value for a turning angle (θt) for a turning wheel based on an input value including a steering torque (Th) applied to a steering wheel of the vehicle in association with a steering operation; an angle feedback control unit that calculates an assist component (Ta2*) through execution of angle feedback control allowing an actual turning angle (θt) for the turning wheel to follow the angle command value (θt1*); an assist command value calculating unit that calculates the assist command value (Ta*) based on the assist component (Ta2*); a state quantity command value setting unit (47; 48) that sets a state quantity command value (YR*; θt2*) corresponding to a target value for a state quantity (YR; θt) indicative of a traveling state of the vehicle; and a correction value calculating unit that calculates a correction value (Tac) based on a deviation (ΔYR; Δθt) between an actual state quantity (YR; θt1*) of the vehicle and the state quantity command value (YR*; θt2*), and an input value for the angle command value calculating unit is corrected based on the correction value (Tac). a motor that applies an assist force to a steering mechanism of a vehicle; and a motor control unit that controls driving of the motor based on an assist command value (Ta*) corresponding to a target value for an output torque of the motor, wherein the motor control unit being characterized by: an angle command value calculating unit that calculates an angle command value (θt1*) corresponding to a target value for a turning angle (θt) for a turning wheel based on an input value including a steering torque (Th) applied to a steering wheel of the vehicle in association with a steering operation; an angle feedback control unit that calculates an assist component (Ta2*) through execution of angle feedback control allowing an actual turning angle (θt) for the turning wheel to follow the angle command value (θt1*); an assist command value calculating unit that calculates the assist command value (Ta*) based on the assist component (Ta2*); a state quantity command value setting unit (47; 48) that sets a state quantity command value (YR*; θt2*) corresponding to a target value for a state quantity (YR; θt) indicative of a traveling state of the vehicle; and a correction value calculating unit that calculates a correction value (Tac) based on a deviation (ΔYR; Δθt) between an actual state quantity (YR; θt1*) of the vehicle and the state quantity command value (YR*; θt2*), and an input value for the angle command value calculating unit is corrected based on the correction value (Tac). an angle command value calculating unit that calculates an angle command value (θt1*) corresponding to a target value for a turning angle (θt) for a turning wheel based on an input value including a steering torque (Th) applied to a steering wheel of the vehicle in association with a steering operation; an angle feedback control unit that calculates an assist component (Ta2*) through execution of angle feedback control allowing an actual turning angle (θt) for the turning wheel to follow the angle command value (θt1*); an assist command value calculating unit that calculates the assist command value (Ta*) based on the assist component (Ta2*); a state quantity command value setting unit (47; 48) that sets a state quantity command value (YR*; θt2*) corresponding to a target value for a state quantity (YR; θt) indicative of a traveling state of the vehicle; and a correction value calculating unit that calculates a correction value (Tac) based on a deviation (ΔYR; Δθt) between an actual state quantity (YR; θt1*) of the vehicle and the state quantity command value (YR*; θt2*), and an input value for the angle command value calculating unit is corrected based on the correction value (Tac).