To control is to make things happen or not happen. Primary control is when we align the world to our wishes. Secondary control is when we align ourselves to the world, often because the world isn't cooperating with our wishes. A sense of control is associated with happiness and psychological well-being. Primary control feels especially good but diminishes as we age. The consolation prize is increased ability to exercise secondary control across adulthood. If you can't win, you figure out how to lose gracefully and with equanimity.
Power is control directed at other people. The impulse to power is not a sign of malign character - it's natural and universal. But the zero-sum dynamics of power relationships wreak much havoc. So the impulse to limit power is also natural and universal.
Sometimes we only manage to claim a bit of power in the nooks and crannies of relationships and institutions. Choice increases power: I can leave this relationship or institution and still potentially thrive. But power relationships rarely reach equilibrium. We usually want more, and so do those over whom we have power.
Reference:
Heckhausen, J., Wrosch, C., & Schulz, R. (2010). A Motivational Theory of Life-Span Development. Psychological Review, 117(1), 32. http://doi.org/10.1037/a0017668