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From Wikipedia militia
At the time of the drafting of the Constitution, and the Bill of Rights, a political sentiment existed in the newly formed United States involving suspicion of peacetime armies not under civilian control. This political belief has been identified as stemming from the memory of the abuses of the standing army of Oliver Cromwell and King James II, in Great Britain in the prior century, which led to the Glorious Revolution and resulted in placing the standing army under the control of Parliament.[27] During the Congressional debates, James Madison discussed how a militia could help defend liberty against tyranny and oppression. (Source I Annals of Congress 434, June 8, 1789) Though during his presidency, after enduring the failures of the militia in the War of 1812, Madison came to favor the maintenance of a strong standing army.