Figure 7. Simulations of an optimal controller with incomplete state observation and sensorimotor delay.

A.–C. Changes in motor command with position for a fixed velocity () for the low noise level (green) and for the high noise level (red). D.–F. Contribution of control cost to total cost (control cost+error cost). A. & D. - Predictions of a risk-neutral controller. B. & E. - Predictions of a risk-averse controller. C. & F. - Predictions of a risk-preferring controller.