Proving First Order Systems

I wish to show that for a typical first order closed-loop system, it should be satisfied in the following format:
(The steady-state error for any step input always equals 0!)
I am unsure how to represent a "typical first order system" in MATLAB and using it to satisfy the conditions.
I'd appreciate any help on this subject matter, thank you to anyone in advance!

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Asked:

on 5 Nov 2023

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on 6 Nov 2023

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