Finally I highly recommend reading the first two pages of “Evolution of behavioural control from chordates to primates” by Paul Cisek: https://www.cisek.org/pavel/Pubs/Cisek2022-PTRSB.pdf
Professor Cisek’s homepage has free copies of his other work too: https://www.cisek.org/pavel/
And for more details about cascaded negative-feedback controllers, there is this article: How Basal Ganglia Outputs Generate Behavior