It was the failure of the Peshwas to retain the control of the military in their hands and to put the generals firmly in their places that enabled the Maratha generals to act independently. Once the generals had the armies under them without any superiors to control them, it was a natural development for them to start their own states and establish dynasties. Scindia, Bhosale, Holkar, Gaikwad etc. established their own states and dynasties. Peshwa, once the powerful Prime Minister who controlled the government, was reduced to be a first among equals or a just figurehead. The Empire became a confederacy and its collapse was quite natural. It was the weakening of the central authority of the Peshwa that led to the downfall of the Maratha power. A victory at the battle of Panipat and/or a long life of an efficient and strong Peshwa like Madhavrao could have altered this situation.