Ramnani has a limited understanding of control theory. He assumes action plans and motor commands executed by the motor system, with a parallel stereotyped model of well-learned actions in context. Error returned from sensors feeds back to modify the model, which is in the cerebellum. Prefrontal processing is more flexible but slower than cerebellar processing.
Setting this aside, an understanding of the neuroanatomy and connections can be extracted. There’s a lot to learn. Here’s a very general diagram from cerebrum to cerebellum and back:
“Schematic diagram of the cerebro-cerebellar loop. The cortico-ponto-cerebellar pathway (orange arrows) connects the cerebrum with the cerebellum passing through the pons and the contralateral middle cerebellar peduncle (MCP). The cerebello-thalamo-cortical pathway (blue arrows) connects the cerebellum with the cerebrum passing through the superior cerebellar peduncle (SCP) and the contralateral thalamus. Dotted arrows represent the contralateral pathway with corresponding colours.”
Palesi, F., De Rinaldis, A., Castellazzi, G. et al. Contralateral cortico-ponto-cerebellar pathways reconstruction in humans in vivo: implications for reciprocal cerebro-cerebellar structural connectivity in motor and non-motor areas. Sci Rep 7, 12841 (2017). DOI: 10.1038/s41598-017-13079-8
And here’s a flow diagram of the cerebellum (from Wikipedia):
