Complex sentence: The emergence of these styles pre-dated Ueshiba's death and did not cause any major upheavals when they were formalized except Shodokan Aikido which introduced rule based competition in training.
Split into simpler sentences: The emergence of these styles pre-dated Ueshiba's death and did not cause any major upheavals when they were formalized. The most controversial was Shodokan Aikido which introduced rule based competition in training.