The thing about steel sheds is that they do not allow water vapour to percolate through the roof - steel isn't porous as a felt/tile roof is.
So, depending on what activities you do in there (that are the source of water vapour) you cannot eliminate this problem.
As the first two respondents point out, if you insulate the underside, you will raise the temperature at the underside of the insulating surface and this may effectively eliminate the problem.
Unless this has been going on for donkeys' years, it is unlikely that the roof has rusted through through - corrugated iron generally lasts more than 25 years.