(Discrete time) TF to DSP, IIR

Hi,

I want to implement a controller in a DSP. This DSP can cascade IIR's. My continuous time TF is;

                 8.475e07 s^3 + 1.695e10 s^2 + 3.39e12 s
  ---------------------------------------------------------------------
  4 s^5 + 8850 s^4 + 3.433e06 s^3 + 3.551e09 s^2 + 1.765e11 s + 8.45e12

The discrete time version is; (ts = 1/96000 second)

0.0005688 z^5 - 0.0005676 z^4 - 0.001138 z^3 + 0.001135 z^2 + 0.0005688 z - 0.0005676
-------------------------------------------------------------------------------------
             z^5 - 4.977 z^4 + 9.909 z^3 - 9.863 z^2 + 4.909 z - 0.9772

So far so good, but I need to rewrite the TF to a cascaded version of IIR's. I am new to DSP implementations so I need some guidance. Which commands/functions do I need to translate my (discrete time) TF to a series of IIR's? I cannot seem to find them.

Thank's in advance, Robert