How are the z-domain poles and zeros related to their, Electrical Engineering

How are the z-domain poles and zeros related to their

Consider the pulse transfer function numerator numd and denominator dend, obtained in P4.5; determine the closed-loop poles and zeros in the z-domain. From the s-domain transfer function numerator numc and denominator denc, obtained in P4.5, determine the closed-loop poles and zeros in the s-domain. How are the z-domain poles and zeros related to their s-domain counterparts? Why are the closed-loop zeros different?

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