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One of the open questions in neuroscience is the function of the cerebellum, a major brain region involved in regulation of the motor systems, speech, emotion, and other cognitive functions of the body. In this monograph the author makes and tests a hypothesis that the primary function of the cerebellum is disturbance rejection of exogenous reference and disturbance signals. In achieving this goal, the author provides a brief historical overview of computational theories of cerebellar function and of the relevant parts of control theory in the area of regulator theory, and then presents a...