Models and theories of speech motor control generally fall into one of two camps: models based on optimizing motor trajectories, and models based on dynamical systems theory. In a new paper, Adam Lammert and I show one way we can bridge this divide. frontiersin.org/articles/10.33… In optimal control theories of movement, movements are planned to minimize some cost function. Often, the terms of this function are things like effort, accuracy, jerk, torque, path curvature, etc.