what are you talking about?
Edo tensei, does not let you control the summons -
That was the basic edo tensei the 2nd hokage created ^ , the people he revived would have fought with him at their free will
Orochimaru invented the fuda tags which killed their emotions and free will, leaving them up to his control... oro was the one controlling them....just like kabuto was controlling some of the edos...
Kabuto asked madara to fight on his own free will, and show the true power of the uchiha.. Madara followed and fought...If kabuto didn't ask that, he wouldn't know what madara was capable of. and would not be able to fight at his best..which is why controlling the person is much weaker than how they'd be alive... For eg, when kabuto followed nagato, he forgot nagato had chibaku tensei, and remembered near the end, and used it.. you think nagato would do things like that?
Edo tensei requires skill of the user when controlling the summons - Too long didn't read version
as i said, it's a jutsu, orochimaru perfected it
If iruka used edo tensei , He isn't as skileld as oro or kabuto, hed at least have the 2nd's version of edo, which gave the edos free will.. Madara woudl SIMPLY walk away, Possibly thanking him for the revival...
If iruka could control madara, what good would it do? he doesnt know about rinnegan, his ems jutsu, at most he'd use Grand fire ball technique...