Although there are several successful asynchronous logic synthesis tools, it is still unwieldy for designers to conceive and describe behaviors for a number of controllers constituting an asynchronous control unit of a target system manually. In this paper, building a distributed asynchronous control unit automatically through automatic derivation of hierarchically decomposed AFSMs from a CDFG is suggested. A resulting control unit consists of small asynchronous controllers and has complete separation of 'execution controllers' and 'execution order controllers'. This distributive feature leads to significant improvements in the aspects of area, performance and synthesis time of derived control circuits.