Your question is not formulated clearly. Did you mean steady-state value, not "steady-error value"? Assuming that's what you meant, the next clarification is steady-state value of a transfer function in response to what - is it in response to a step input?

If that's what you meant, then yes, you can do this like that:

>> s=tf('s');
>> sys=5/(s^2+2*s+25);
>> [y,t]=step(sys);
>> y(length(y))

ans =

          0.20

You can also right click on a step plot, "Charecteristics", "Steady-state", as shown below: