How did tokugawa shotgunate control the daimyo?

The Tokugawa shogunate controlled the daimyo through a system known as "sankin-kōtai," which required them to spend alternating years in the capital, Edo, and their own domains. This practice ensured that the daimyo were physically separated from their lands and resources, limiting their power and ability to raise armies. Additionally, the shogunate implemented strict regulations on the daimyo's military capabilities and finances, effectively centralizing authority and maintaining a balance of power that favored the shogunate. Through these measures, the Tokugawa shogunate established a stable but rigid hierarchy that kept the daimyo in check.