Consider you already have designed a controller K(s) for a closed-loop control system based on the root locus technique learnt in Unit 2. Based on the Handout in Unit 3,explain

how you re-design the closed-loop control system so that a discrete-time controller K(z) can be achieved based on K(s). Your answer must consider any precaution taken so that the closed-loop system performance due to K(z) is almost as good as that due to K(s).