A teleported control system incorporates both a person (operator) and a remote machine. The normal teleportation system

Question:

A teleported control system incorporates both a person (operator) and a remote machine. The normal teleportation system is based on a one-way link to the machine and limited feedback to the operator. However, two-way coupling using bilateral information exchange enables better operation [18]. In the case of remote control of a robot, force feedback plus position feedback is useful. The characteristic equation for a teleported system, as shown in Figure AP6.1, is
s4 + 20s3 + K1s2 + 4s + K2 = 0,
where K1 and K2 are feedback gain factors. Determine and plot the region of stability for this system for K1 and K2.