As you may have appreciated from the prior page, Viable system model, organizational complexity arises progressively to support entities in their increasingly complex Environment. The surprising truth is that it takes more complexity to keep prior complexity going beecause organizations fall apart without feedback mechanisms to sense change and adapt.
We need models (embodied) that are as complex as the situations (sets of interactions) of interest. So, children need parents because parents' models of the situation are complex enough to support the children, until the children's models are complex enough to support themselves and the changes that are misunderstood by the parents. Because the environment keeps getting more complex so the children need more complex models than their parents had.
Now we are in the territory of Ross Ashby's Homeostat and Conant and Ashby's Good Regulator Theorem for embodied models capable of problem solving in unfamiliar territories.
See Decomplexify.