Soundbar control help

I have a Panasonic Television that works great. I have a Vizio soundbar that works great that is hooked up to the tv via the digital audio output. I can control the television and tivo through my tivo peanut remote and i can control the soundbar audio through the soundbar remote.

I want to control the soundbar through the tivo remote, how can I accomplish this? I know my panasonic tv has a feature called "EZsync" , now known as viera link in the newer models. Not sure what to do.