Frederick William was a military commander of wide renown, and his standing army would later become the model for the Prussian Army. He is notable for his joint victory with Swedish forces at the Battle of Warsaw, which, according to Hajo Holborn, marked "the beginning of Prussian military history", but the Swedes turned on him at the behest of King Louis XIV and invaded Brandenburg. After marching 250 kilometres in 15 days back to Brandenburg, he caught the Swedes by surprise and managed to defeat them on the field at the Battle of Fehrbellin, destroying the myth of Swedish military invincibility. He later destroyed another Swedish army that invaded the Duchy of Prussia during the Great Sleigh Drive in 1678. He is noted for his use of broad directives and delegation of decision-making to his commanders, which would later become the basis for the German doctrine of "Auftragstaktik", and for using rapid mobility to defeat his foes.