Coordination: a vector-matrix description of transformations of overcomplete CNS coordinates and a tensorial solution using the Moore-Penrose generalized inverse.

Neuronal organisms express their function, such as a movement, by multicomponental actions. Thus, the problem of how the central nervous system (CNS) coordinates the elements of a single action is fundamental to our understanding of brain function. Coordinated activation of multijointed "limbs" has also become an acute problem in modern multivariable control theory and engineering, such as robotics. Thus, a coherent interdisciplinary approach is expected, one that arrives at concepts and formalisms applicable to this problem both in living and man-made organisms. By treating coordination with coordinates, tensor network theory of the CNS, which explains transformations through the neuronal networks of natural non-orthogonal coordinates that are intrinsic to living organisms, may successfully integrate the diverse approaches to this general problem. A link between tensor network theory of the CNS and multivariable control engineering can be established if the latter is formulated in generalized non-orthogonal coordinates, rather than in conventional Cartesian expressions. In general terms, the problem of coordinating an overcomplete (more than necessary) number of components of an action can be resolved by a three-step tensorial scheme. A key operation is a covariant-to-contravariant transformation executed by the Moore-Penrose generalized inverse when, in an overcomplete manifold, the covariant metric tensor is singular. In the neuronal organization of the CNS, it is assumed that the cerebellum plays this role of acting as a contravariant metric. A quantitative example is also provided, in order to demonstrate the viability of the numerical and network-implementations.