 Complete the following phrase:  The Edo period was characterized by relative peace and stability under the tight control of the Tokugawa shogunate, which ruled from the eastern city of Edo modern Tokyo. In 1603, Emperor Go-Yōzei declared Tokugawa Ieyasu shōgun, and Ieyasu abdicated two years later to groom his son as the second shōgun of what became a long dynasty. Nevertheless, it took time for the Tokugawas to consolidate their rule. In 1609, the shōgun gave the daimyō of Satsuma Domain permission to 