Controlled commands - computations whose execution depends on a separate input - play a central role in reversible Boolean circuits and quantum circuits. However, existing formalisms typically treat control only implicitly, entangled with other aspects of computation. From a semantic perspective, control is most naturally expressed in semisimple rig categories, which - unlike standard circuit models such as props - support both parallel and conditional composition. We present a construction that freely adjoins an explicit syntactic notion of control to a circuit theory specified as a suitable prop, subject to eight universally quantified equations. Our main result is that these equations are sound and complete for the intended semantics of control: the resulting theory satisfies a universal property, identifying it exactly as the circuit subtheory of the free semisimple rig completion. The proof combines coherence for rig categories with a new method based on induction over Gray codes. We illustrate the usefulness of the framework by showing that it simplifies several existing sound and complete axiomatisations of quantum circuits, isolating a small and conceptually clean set of generators and equations. In addition, the same equations yield a sound and complete axiomatisation of the multiply controlled Toffoli gate set, that is universal for reversible Boolean circuits.