Well, I was inspired by accelstepper proportional tutorial. And totally missed the idea if missing steps. OK, steppers not that good for beeng servos. Thanks for helping me understand that.
Another question. MarkT told,that acceleration is necessary. I've decided not to control stepper angle, but its speed instead. With limiting switches at range ends. So I'm setting speed according to data from tx receiver and it work, but still with sone jitter. As I understand, I need to add acceleration between that speed changes. Imbusing runSpeedToOsition, which doesn't use acceleration. Wat function should I use instead?