How did the relations of feudal lords develop with the inhabitants of cities located on their land in the Middle Ages?

The inhabitants of the cities, which were on the land of the feudal lord, had to obey his decrees and orders. Feudal lords also collected taxes from cities. In addition, the owner of the land on which the city was located could impose various labor duties on the population, be it the construction or repair of roads, buildings, and so on.