Tempest has a strong master-slave relationships. Apart from King Alonso and his courtiers like Trinculo and Stephano or Boatswain, the two main master-slave equations are of Prospero-Caliban and Prospero-Ariel.
While Caliban is spiteful of Prospero and hatches a plant to assassinate him, Ariel enjoys a positive relationship with master Prospero. Even Prince Ferdinand is used as a slave-worker by Prospero in his plan to get his daughter Miranda feel sympathy and love for the prince. Gonzalo and Prospero is another example of positive power dominance even though he is not a slave to the dethroned Prospero.
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