Figure 9.

Engineering block diagram for good-enough control in which cerebral cortex performs trial-and-error learning and storage of motor programs that control the state of lower sensorimotor centers such as the spinal cord, where they are integrated with sensory feedback from the musculoskeletal system. The tasks to be performed are indexed, recalled and evaluated in sensory coordinates (Gerald E Loeb & Fishel, 2014; Scott & Loeb, 1993), which facilitates computation of cost as difference between sensory feedback expected and received. Reprinted from (G.E. Loeb, 2012) with permission of the publishers.