Abstract: A hydraulic steering system having apparatus for compensating for steering angle error. On displacement of a steering handwheel, the steering handwheel angle, the steering motor angle and the steering handwheel speed are ascertained. The fluid flow between a steering control device and a steering motor is changed via auxiliary flow paths in dependence on the steering angle error. At every steering handwheel speed and every steering angle error, the change of the fluid flow is effected in dependence on the steering handwheel speed and the steering angle error. A multiplier multiplies the outputs of a difference-generating means and a differentiator together, the output of the multiplier being connected by way of a proportional element to a valve control device connected to pass signals to a valve arrangement which controls the auxiliary flow paths.