Proceedings of the Annual Meeting of the Cognitive Science Society

Many cognitive theories explain behavior using linear input–output models grounded in normatively specified tasks. However, these approaches remain weakly grounded in biological organization and real-time organism–environment interaction. This theoretical analysis paper examines Yin's control-theoretic extension of Perceptual Control Theory (YIN-CBEHA) using Marr's levels of analysis as evaluative criteria. In YIN-CBEHA, behavior is not identified with motor output but with the hierarchical control of perceptual variables through closed-loop negative feedback. We show how this framework satisfies Marr's three-level demands within a single control architecture. Converging evidence from neurophysiology and robotic construction supports the functional sufficiency of hierarchical feedback control for posture, movement, and spatial regulation under real-world constraints. By constraining admissible computational problems through continuous-time feedback, YIN-CBEHA reduces explanatory underdetermination and improves biological plausibility. While its strongest empirical support currently lies at intermediate sensorimotor levels, the framework provides a tractable foundation for extending control-theoretic explanation toward higher cognition.