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. Author manuscript; available in PMC: 2021 Mar 29.
Published in final edited form as: Neural Comput. 2020 Mar 18;32(5):865–886. doi: 10.1162/neco_a_01272

Figure 2:

Figure 2:

Closed-loop model of the sensorimotor control system (SCS). The input, r(t), goes through a linear model of the cerebrocerebellar system K that in turn generates a control signal, u(t), from a group of alpha motor neurons. These motor neurons then actuate a linear model of the musculoskeletal system M that generates the motor output z(t), which is fed back to the cerebrocerebellar system.