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. Author manuscript; available in PMC: 2016 Dec 12.
Published in final edited form as: Nat Rev Neurosci. 2008 Aug;9(8):587–600. doi: 10.1038/nrn2457

Figure 2. A taxonomic classification of corollary discharge.

Figure 2

Corollary discharge can be classified globally into lower- and higher-order categories according to the function and operational impact of the signal. Lower-order functions include reflex inhibition and sensory filtration, which are examples of the control of sensation by the CNS. Higher-order functions include sensorimotor learning/planning and sensory analysis/stability, all of which are examples of the control of action and perception by the CNS.