CONTROL SYSTEM

Centralized registers in which commands can be written are provided in correspondence with a plurality of control modules. Centralized registers for managing the pre-emption status of control modules and their tree-configuration hierarchical relations are also provided in correspondence with a plurality of control modules. Control modules to which a command should be transmitted are specified by looking up the registers that manage the pre-emption status and the tree-configuration hierarchical relations. When control modules have been specified, the latched command is written to the registers in which commands can be written.