There is a service bulletin on speed control Over/Undershoot your dealer can print it out for you, the number is 081695A. The fix is to reprogram the cruise control module; by setting the cruise control while holding the speed of the truck constant, wait 10 seconds and shut of the cruise manually, repeat 10 - 15 cycles - Hold, set, 10 seconds, turn off. What the control does is adjust or learn the amount of slack in the cruise control throttle cable. If you set the control speed without holding the speed constant then the control learns to adjust incorrectly and you end up with the Over/Undershooting.
Hope this helps