Consider the following unity feedback system

Recall the closed-loop transfer function of the system, T(s), is

The system output can then be expressed as

The error, E(s), between the system input, R(s), and the system output, C(s), is

Using the final value theorem, the steady-state error is

Recall the closed-loop transfer function of the system, T(s), is

The system output can then be expressed as

The error, E(s), between the system input, R(s), and the system output, C(s), is

Using the final value theorem, the steady-state error is

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