Robot control: Let us consider the control of a robot arm. It is predicted that there will be about 100,000 robots in service throughout the world by 2,000. The robot is a six-legged micro robot system using highly flexible legs with high gain controllers that may become unstable and oscillate. Under this condition, the characteristic polynomial is given by

\[q(s)=s^{5}+s^{4}+4 s^{3}+24 s^{2}+3 s+63\]