Janelle's usual bedtime is 8:30 P.M., and her parents strictly enforce this rule. One evening, Janelle is watching an educational program on the Discovery Channel, which ends at 9 P.M. She asks her parents if she can stay up this one night to watch the end of the program. Her parents agree to let her stay up as long as she gets up in time for school in the morning. Which type of parenting style are Janelle's parents demonstrating