Fig 1. Architecture of the FACTS model.

Boxes in blue represent processes outlined in the Task Dynamics model [32, 41]. The articulatory state estimator (shown in red) is implemented as an Unscented Kalman Filter, which estimates the current articulatory state of the plant by combining the predicted state generated by a forward model with auditory and somatosensory feedback. Additive noise is represented by ε. Time-step delays are represented by z⁻¹. Equation numbers correspond to equations found in the methods.