Impulse Invariant :

Fs1=2000; Fs2=5000;
num=1*[1 0];
den=conv([1 1],[1 2]);
[numd,dend]=impinvar(num,den,Fs1)
[numdd,dendd]=impinvar(num,den,Fs2);
[H,w]=freqs(num,den);
[Hd1,Fd1]=freqz(numd,dend,256,'whole',3000);
[Hd2,Fd2]=freqz(numdd,dendd,256,'whole',5000);
plot(w/(2*pi),20*log10(abs(H)),'LineWidth',3);grid
hold on
plot(Fd1,20*log10(abs(Hd1/Hd1(1))),'g','LineWidth',3);
plot(Fd2,20*log10(abs(Hd2/Hd2(1))),'k','LineWidth',3);
Hold off
legend('Analog','Digital: Fs=3000 Hz','Digital: Fs=5000 Hz')
xlabel('Frequency,(Hz)')
ylabel('Magnitude response, (dB)')
title('Frequency response: Analog vs digital (impulse invariance)');