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For an analogue system with compensation: D(s)=40(s+2) /(s+10) and plant G(s)=1 /(s(s+1)) (a) Use Euler's 'forward rectangular method' for time-domain emulation to determine the difference equations for digital implementations of D(s) and G(s), respectively,with a sample rate of 50 Hz. (b) Transform obtained difference equation using z-transformation and find out digital transfer function D(z) and G(z), respectively, assuming no initial conditions. (c) Using MATLAB to plot the closed-loop step responses of both systems, D(s)*G(s) and D(z) *G(z) on one figure for comparison. Discuss the finding.

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