Bell's gonna love this hypothetical:
Pitcher A aims for the middle of the plate, no matter where his catcher wants him to throw. He misses the target every time, but is off by just enough that almost all his pitches are near the edge of the K zone but are in the strike zone. (He's maybe 8-12+ inches off target every pitch.) We say he has great control but poor command, as he significantly misses the mitt almost every time.
Pitcher B aims for the target set by the catcher's mitt and misses within an inch or two almost every time, but often to side that makes him miss the K zone. He misses the K zone more than pitchers A, and we say he has bad control, because of all the out-of-K zone pitches he throws, but he has good command, because he is almost always within an inch or two of the intended target.
I get the distinction and connotations attached to each word, but it rubs me the wrong way to say pitcher A has better control of his pitches.