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?