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Digitize with sample rate of 10 Hz the following analogue lead compensator-often used in control system to improve transient response -which add around 55° phase margin at about W₁ = 3 rad/s. Its transfer function is: G(s)=\frac{s+1}{0.1 s+1} Using frequency-domain: a) Forward rectangular method b) Back rectangular method c) Tustin method d) Tustin with prewarp at w₁ e) Zero-pole matching method f) Use MATLAB to plot bode plots for all above in one graph, discuss the findings.

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