Matched Z-transform method
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The matched Z-transform method, also called the pole–zero mapping or pole–zero matching method, is a technique for converting a continuous-time filter design to a discrete-time filter (digital filter) design.
The method works by mapping all poles and zeros of the s-plane design to z-plane locations z = exp(sT), for a sample interval T.
Alternative methods include the bilinear transform and impulse invariance methods.