Check out example codes for "matlab online for steady state error". It will help you in understanding the concepts better.

Code Example 1

s = tf('s');
G = (4/(s+2));
T = feedback(G,(2/s+4));
t = 0:0.1:25;
u = t;
[y,t,x] = lsim(T,u,t);
plot(t,y,'y',t,u,'m')
xlabel('Time (sec)')
ylabel('Amplitude')
title('Input-purple, Output-yellow')

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