I tried to be less confusing with the title, but it's hard. In my town there's a car care of reynoldsburg and a reynoldsburg car care, so I can sympathize with any confusion :p
Hylian Soldier
The basic town peacekeepers are all finely brought up young men from the rich side of Hyrule. They keep their town in proper order, which means keeping the poor, thieving slobs from the slums out.
Behavior: Default
Attacks:
-Ask to leave. No physical damage.
The soldiers all have areas to which they're assigned, such as the market or a particular street. When Link wanders into their area, they tail him, keeping a little distance. They'll just watch for him to do something illegal, like attack somebody or pickpocket or anything, and if Link is seen doing something, they'll go into red alert.
If Link hides from the guards for long enough or leaves the area, they'll stop following him. For example, if Link goes around a few corners and is out of the guards sight for 5 seconds or so, or climbs up onto a roof, the guards will lay off their tailing him.
Behavior: Red Alert
Attacks:
-Baton: Attack with a blunt object. 1/4 heart damage. Can be blocked with the shield or a well timed sword swing.
-Slash: Take a swing at Link with their sword or spear. 1/2 heart damage. Can be blocked with the shield or a well timed sword swing.
If Link does anything less than scrupulous and a guard sees or a citizens alerts them, the guards go into red alert. This is a maim first, ask questions later alert. Guards near Link will run after him, and any guards that Link gets near while running away will also be alerted. Earlier in the game, they will only swing batons at him, but later in the game, they'll draw their swords. If Link takes three baton hits, he will fall over and be thrown out of the rich side of town at the nearest exit, rather than just attacked until he dies. The guards are civilized.
A red alert can be reset to default if Link leaves the rich part of town or remains in an area otherwise inaccessible to the guards for long enough, like 20 seconds.
Health
HP: 1 hit to the head (option of the action button when standing directly behind him, can also shoot him with boomerang, hookshot, or bow) will knock him out, like the Gerudo thieves in OoT.
When unconscious, the soldier will fall to the ground with stars spinning above his head for 7-10 seconds. When they get up, they will prompt a red alert.
Notes
Guards will always block sword attacks, and bombs don't affect them, They deflect incoming bombs. They can only be knocked out.
The areas patrolled by guards will become more numerous throughout the game. Initially, there will only be a couple in the market and streets, but later there will be more in the market, and even one or two posted on roofs.