Holding a position and following a conveyor are different requirements. A controller may look excellent in a step demo while following a moving reference with a persistent gap.
Keep the loop, change the reference
In System type, select Type 1 and K=2. Its loop is L=2/s, and a unit step has zero limiting error. Record a prediction that final error will increase, then change only the input to Unit ramp. The predicted limiting error becomes 1/K=0.5. The loop remains stable; the task has changed.
Why a gap can be necessary
For L=K/s, output velocity is proportional to error. Following a unit-slope ramp needs velocity 1, so the error must approach 1/K to sustain that motion. The supported Type 2 loop adds integral correction and a stabilizing zero, allowing zero ramp error. An arbitrary extra integrator does not inherit that stability.
Separate the requirement from the recording
State the required reference speed, acceptable lag and observation time. At low K, a 30-second sample may still include a transient: compare the measured endpoint with the analytic limit displayed separately. Real actuators also have speed and force limits. Use the physical labs to inspect those limits before treating system type as a complete design rule.
Validate the reference class and stability before using a steady-error table.