How can I simulate a system and analyze its steady-state error using `lsim` in MATLAB?

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How can I simulate a system and analyze its steady-state error using `lsim` in MATLAB?
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Use `lsim(sys, t, u)` to simulate the system `sys` over time `t` with input `u`. After the simulation, plot the input and output using `plot(t, [u; y])`. Visually inspect the plot to estimate the steady-state value of the output. Alternatively, use `y(end)` to get the last output value as an approximation of the steady-state value.