It can be shown that it is very similar to the trapezoidal approximation used in the

It can be shown that it is very similar to the trapezoidal approximation used in the preceding sections. The bilinear transformation process can get tedious when developing the difference equations by hand but is easily done using computer programs like Matlab. The concept, however, is simple. To convert from the s-domain, we simply substitute the transform in for each s that appears in our controller and simplify the result until we obtain our controller in the z-domain.