In Federalist No.51,what government structure did James Madison recommend to ensure "ambition ...be made to counteract ambition"?

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In Federalist No. 51, James Madison recommended the separation of powers among the branches of federal government to ensure that "ambition ... be made to counteract ambition." This system would prevent any one branch from becoming too powerful, as each branch would have a distinct role and check the powers of the others. A bicameral legislature (B) and a unicameral legislature (E) only address the legislative branch and do not provide for checks and balances among all branches. Direct democracy (A) would not be practical for a large and diverse country, and an executive branch with unchecked power (C) would be a danger to liberty.