In this talk, the construction of a structure-based controller is introduced. Natural controllers, represented by insect brain, show a fruitful adaptability with limited resources. Geometrical characteristics, particularly utilized for Passive dynamic walker and Small World structure, is possible origin of this functionality. In our method, multiple nonlinear oscillators are arranged as network elements, and synchronism is controlled by manipulating the connection structure. We first bring a coupled van der Pol oscillators into play, develop a controller based on eigenf-requencies of oscillators. Then we expand it to further general system, whose operation is independent from eigen-frequencies. Moreover, we apply this controller for a robot, which models cricket brain and changes the behaviour based on inner structure.