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 invade the Ryukyu Kingdom for perceived insults towards the shogunate; the Satsuma victory began 266 years of Ryukyu's dual subordination to Satsuma and China. Ieyasu led the Siege of Osaka that ended with the destruction of the Toyotomi clan in 1615. Soon after the shogunate promulgated the Laws for the Military Houses, which imposed tighter controls on the "daimyōs", and the alternate attendance system, which required each "daimyō" to spend every other year in Edo. Even so, the "daimyōs" continued to maintain a significant degree of autonomy in their domains. The central government of the shogunate in Edo, which quickly became the most populous city in the world, took counsel from a group of senior advisors known as "rōjū" and employed samurai as bureaucrats. The emperor in Kyoto was funded lavishly by the government but was allowed no political power.