A teleoperated control system has an operator and a remote machine. The usual teleoperation system is based on a one-way link to the machine and limited feedback to the operator. However, the use of a two-way coupling will result in a better operation. The characteristic equation of one such teleoperated system is given as:
s4+ 20s3 + K1S2+ 4s + K2= 0
Find values of K1 and K2 which will lead to a stability region.