The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= 0.2526\\[1 em]x_2 &= -0.3194\\[1 em]x_3 &= -2.0326\\[1 em]x_4 &= 6.0994 \end{aligned} $$Polynomial $ 4x^4-16x^3-51x^2-2x+4 $ has no rational roots that can be found using Rational Root Test, so the roots were found using quartic formulas.