LQG framework explains performance of balancing inverted pendulum with incongruent visual feedback.

Successful manipulation of objects requires forming internal representations of the object dynamics. To do so, the sensorimotor system uses visual feedback of the object movement allowing us to estimate the object state and build the representation. One way to investigate this mechanism is by introducing a discrepancy between the visual feedback about the object's movement and the actual movement. This causes a decline in the ability to accurately control the object, shedding light about possible factors influencing the performance. In this study, we show that an optimal feedback control framework can account for the performance and kinematic characteristics of balancing an inverted pendulum when visual feedback of pendulum tip did not represent the actual pendulum tip. Our model suggests a possible mechanism for the role of visual feedback on forming internal representation of objects' dynamics.