A steering system includes a steering angle detection unit that detects a steering angle of a steering wheel,a steering torque detection unit that detects a steering torque with respect to the steering wheel,an ECU that calculates a corrected steering angle by nonlinearly correcting the steering angle, a first steering parameter as the product of an angular velocity of the steering angle and the steering torque, a second steering parameter as the product of the corrected steering angle and a time differential value of the steering torque, and a target control amount based on the first steering parameter and the second steering parameter,and a steering support unit that applies a rotation torque to the steering wheel based on the target control amount.