The invention provides a steering system for a vehicle, a ship etc. The steering system has a steering handle for the operator of the vehicle, a set of signal processors, a sensor which determines a position of the steered element of the vehicle, and a controller which moves the steered element. The steered element could e.g. be the front wheels of a car. The signal processors are adapted to determine an error between the desired position of the steered element and an actual position of the steered element. In order to make the steering system more fault tolerant, the error signal is amplified based on the speed by which the steering handle is moved, and an error in the sensor therefore becomes less critical. The invention further provides a steering method, a steering control unit and a vehicle provided with a steering system of the mentioned kind.