The _missi dominici_ were sent into the provinces to maintain the power of the emperors, and to protect the people from the oppressions of the noblemen; and not only did they usurp the imperial power to a great extent, but they dealt more severely with the inhabitants.

The freemen became vassals, in order to get rid of military service and court duty; and they were immediately involved in all the personal quarrels of their seigniors, and compelled to do jury duty in their courts....

The kings protected the cities and the communes, in the hope of freeing them from the yoke of the grand vassals, and of rendering their own power more absolute; and those same communes have, in several European countries, procured the establishment of a constitutional power, are now holding royalty in check, and are giving rise to a universal desire for political reform."-- Meyer: Judicial Institutions of Europe.
In recapitulation.
What was feudalism?
A confederation of the grand seign iors against the villeins, and against the king.

[60] What is constitutional government?
A confederation of the bourgeoisie against the laborers, and against the king.

[61] How did feudalism end?
In the union of the communes and the royal authority.