differences between an Incident Command System (ICS) and Unified Command Structure (UCS).

Respond to the following in a minimum of 175 words:

Discuss the differences between an Incident Command System (ICS) and Unified Command Structure (UCS). Explain when they should be used and why they should be used in those situations. What are the benefits and limitations of operating under an ICS or UCS? Also, discuss how local, state and federal agencies partner during major events and some potential problems or challenges with this.