Could a person ever wanna control one

for non bad or insidious reasons? Like think of mothers, they control their kids, but couldnt possibly wanna harm them. But how is it in the adult world?
Or think of relationships? Why wanting to control is always unequivocably considered bad, even abusive? Isnt it merely expressing i would like for them to behave so and so

from my personal experience, anytime a person tried to control me they always turn out to be abusive or there was sinister motives. the trend is unfailing