Workaround: override the ProcessCmdKey method of the form and activate the desired control:
 protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
        {
            if (keyData== Keys.Tab)
            {
                this.ActiveControl = this.radPopupEditor2.PopupEditorElement.TextBoxElement.TextBoxItem.HostedControl;
                return true;
            }
            return base.ProcessCmdKey(ref msg, keyData);
        }

IMPORTANT!!! Tab key should navigate to the next control even if the popup is opened.