Figure 2: A control system for the regulation of behavior that includes a feed-forward mechanism to reduce the adverse effects of time lags in feed-back regulation. Feed-forward control is gained with the addition of a memory module which stores previously experienced sensory input as well as previous comparisons and adjustments made through feedback control. The system is able to anticipate imminent behavioral output so that adjustments to the stimulus/response actuator can be undertaken before behavioral mistakes are made. This allows the system to operate more efficiently and effectively under the extant environmental conditions.