For a system whose continuous-time transfer function is given as:
G(s)=(K(τ(0)s+1))/((τ(1)s+1)(τ(2)s+1)),
show that the discrete-time transfer function with sample time Ts is...
a) G(z) = K * ((1 + Ts/2τ(0)) / (1 - Ts/2τ(1)) * (1 + Ts/2τ(2)))
b) G(z) = K * ((1 - Ts/2τ(0)) / (1 + Ts/2τ(1)) * (1 - Ts/2τ(2)))
c) G(z) = K * ((1 + Ts/2τ(0)) / (1 + Ts/2τ(1)) * (1 + Ts/2τ(2)))
d) G(z) = K * ((1 - Ts/2τ(0)) / (1 - Ts/2τ(1)) * (1 - Ts/2τ(2)))