The document discusses steady state error analysis for unity and non-unity feedback systems. It analyzes three cases of input signals: (A) unit step, (B) unit ramp, and (C) parabolic. For each case, it defines the relevant error constant - static position error constant Kp, static velocity error constant Kv, and static acceleration error constant Ka. It finds that as the system type N increases, the steady state error decreases and approaches zero for higher order input signals. The document uses these concepts to analyze the steady state error for an example system with input r(t) = (2+3t)u(t).