c2d supports different methods. The "pole-zero mapping" is what c2d calls "matched." However the result using "matched" does not give the expected result:
hc = tf(910,[0.065e-2 1]);
hd = c2d(hc,Ts,'matched')
But this result appears to be correct insofar as pole zero mapping uses the relationhip z = exp(s*T)
Maybe the authors were really using a much smaller sample time?
hd = c2d(hc,Ts,'matched');