Distributed generation is emerging as a new technology for supplying the increasing demand for electricity. Microgrids are attracting a great deal of attention since they integrate distributed generation in the main grid reliably and cleanly. When designing the control system of a microgrid, several functions must be considered, such as the management of electrical and thermal energy, load management, synchronisation with the main grid, etc. Both companies and institutions have carried out research into the control of microgrids over recent years and many proposals can be found in the literature. Thus, the design of the control system of a microgrid is a complex task due to its multiple functions and the large number of proposed solutions. This paper presents a complete description of the main features of a microgrid and describes the characteristics of the control systems used. Details are provided of the control tasks involved and of the main types of controls proposed in the literature. In addition, this paper describes the controls used in existing microgrids all over the world and proposes future areas for research. This work has been carried out inside de Research and Education Unit UFI11/16 of the UPV/EHU and supported by the Department of Education, Universities and Research of the Basque Government within the fund for research groups of the Basque university system IT394-10 and by the University of the Basque Country.