There are two main types of organisational structure used in businesses – hierarchical (or tall ... managers have a wide span of control with more subordinates, and there is usually a short ...

19, no. 2, pp. 20-33, June 2012. Alexander Dietrich, Christian Ott, and Alin Albu-Schäffer, "Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability" in Proc.