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

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.

Operator commands luman Remote machine operator Feedkack FIGURE AP6.1 Model of a teleoperated machine.

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