Due to inherent advantages of DC system over AC system such as compatibility with renewable energy sources, storage devices and modern loads, Direct Current Microgrid (DCMG) has been one of the key research areas from last few years. The power and energy management in the DCMG system has been a challenge for the researchers. MG structure and control strategies are the integrated part of the power and energy management system. This paper covers all the aspects of the control of DCMG, whether it is DC bus voltage, power or energy related. Different MG Structures with their comparative analysis has been given in this paper. Various control schemes: Basic control schemes like centralized, decentralized and distributed control and multilevel control scheme such as hierarchal control has been discussed. The Power management in grid-connected, Islanded mode and transition mode has been presented. Different energy management strategies have been presented as energy management plays very important role in optimizing the size and rating of energy storage system and their maximum utilization. The energy management of a battery and super capacitor based HESS in all configurations has also been discussed and finally, future trends in further research are presented.