Bank switching is necessary because the 6502 chip in the NES has a 16-bit address space, with the bottom 0x4019 (~16K) bytes being reserved for system use (RAM, PPU/APU features, and controller I/O). Cartridges therefore only had access to a ~48 KiB range of address space (although in practice I believe only the top 32K was typically used for ROM), so bank switching was needed to be able to fully access anything larger.