function SteadyStateError(A,G)

if isstable(feedback(G,1))~= 1 
    fprintf('System niestabilny\n');
    return
end
fprintf('==============================================================\n');
s = tf('s');

if A(1)~= 0
    ess = A(1)/(1 + dcgain(G));
    fprintf('Uchyb skok jednostkowy - uk³ad zamkniety           %f\n',ess);
end

if A(2)~= 0
    ess = A(2)/dcgain(s*G);
    fprintf('Uchyb sygna³ liniowo narastaj¹cy - uk³ad zamkniety %f\n',ess);
end

if A(3)~= 0
    ess = A(3)/dcgain(s^2*G);
    fprintf('Uchyb sygna³ paraboliczny - uk³ad zamkniety        %f\n',ess);
end
fprintf('==============================================================\n');
end

