Compare the Dahlin and Vogel-Edgar controllers for G(s) = 1/[(2s + 1)(s + 1)] and = t

Compare the Dahlin and Vogel-Edgar controllers for G(s) = 1/[(2s + 1)(s + 1)] and λ = ∆t = 1. Does either controller ring? Derive the resulting difference equations for the closed-loop system y(k) related to ysp,(k). Does overshoot occur in either case?