Relevant to this are:

Daniel M Wolperta, R.Chris Miallb and Mitsuo Kawatoc {1998} "Internal models in the cerebellum" Trends in Cognitive Sciences, Volume 2, Issue 9, 338-347, 1 September 1998 doi:10.1016/S1364-6613(98)01221-2

Abstract

This review will focus on the possibility that the cerebellum contains an internal model or models of the motor apparatus. Inverse internal models can provide the neural command necessary to achieve some desired trajectory. First, we review the necessity of such a model and the evidence, based on the ocular following response, that inverse models are found within the cerebellar circuitry. Forward internal models predict the consequences of actions and can be used to overcome time delays associated with feedback control. Secondly, we review the evidence that the cerebellum generates predictions using such a forward model. Finally, we review a computational model that includes multiple paired forward and inverse models and show how such an arrangement can be advantageous for motor learning and control.

Masao Ito {2008} "Control of mental activities by internal models in the cerebellum" Nature Reviews Neuroscience 9, 304-313 (April 2008) | doi:10.1038/nrn2332

Abstract

The intricate neuronal circuitry of the cerebellum is thought to encode internal models that reproduce the dynamic properties of body parts. These models are essential for controlling the movement of these body parts: they allow the brain to precisely control the movement without the need for sensory feedback. It is thought that the cerebellum might also encode internal models that reproduce the essential properties of mental representations in the cerebral cortex. This hypothesis suggests a possible mechanism by which intuition and implicit thought might function and explains some of the symptoms that are exhibited by psychiatric patients. This article examines the conceptual bases and experimental evidence for this hypothesis.