Hierarchical control system

A hierarchical control system is like a big family tree. It's a way of organizing different parts of something to make sure that everything runs smoothly. Think of it like this - the head of the family tree is like the boss and is in charge of everything. Each branch then represents different parts or tasks that have to be done in order for the system to work properly. The lowest level in the tree is the most basic tasks, and then each layer moves up in complexity. By having all the parts organized in a family tree structure like this, it makes it easier to figure out what needs to be done, who is in charge of each task, and how they are all connected.