The perception that the orders of superiors are legitimate because "this is how things have always been done" is characteristic of a political system based on

 Traditional authority

Explanation:

Traditional authority is defined as the authorization that is related with leader positions where ruling government , party or system has a strong link with the tradition. It is the pattern that has been followed always from earlier times.These authorities are derived from customs.

Thus, according to the question, any superior person's order is supposed to be lawful as they hold this ruling position from long time back in traditional history of political system. So, this system is oriented with traditional authority.

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