Regulating device and method for regulating the steering angle of a vehicle

A regulating device for regulating the steering angle of a vehicle includes a first controller unit having at least one integrating component and configured to receive a control difference between first steering angle information, which is deduced from nominal steering angle information, and an actual steering angle. The first controller unit provides actuation information for a motor operating the steering. A compensation control circuit superposed on the first controller unit is provided. The compensation control circuit has a feedback path receives actuation information of the motor, the output torque of the motor, and/or information dependent on the output torque of the motor as the input variable and, based on the input variable, provides steering angle compensation information.