Before revision:  In addition, we put forward a thesis that the cerebellum embodies internal models of all persistent, exogenous reference and disturbance signals acting on the body and observable through the error signals it receives . Our proposed architecture is compared to feedback error learning, a variant of the computed torque method in robotics and currently the best developed computational architecture for the cerebellum .
After revision:  In addition, we put forward a thesis that the cerebellum embodies internal models of all persistent, exogenous reference and disturbance signals acting on the body and observable through the error signals it receives .