The invention provides a steering system comprising a controlled element which is movable in a neutral area comprising a neutral position and in areas on opposite sides of the neutral area based on a steering input and a handle for requesting a desired position for the controlled element. The handle is movable between set-points in a centre zone comprising a centre set-point and set-points on opposite sides of the centre zone. Furthermore, a steering unit is arranged to receive set-points from the handle, to determine a corresponding controlled position of the controlled element, and to move the controlled element to said controlled position. In order to prevent or reduce jerks, the steering unit is adapted to vary a speed by which the controlled element is moved to the controlled position. The speed is variable in dependence of the received set-point.