Feedback-driven corrective commands as a cause of breakdown — Harrington’s (1988) framing is reported: incorrect anticipations about sensory timing cause the feedback controller to issue corrective commands that can cause premature motor initiations (e.g., initiating the vowel too early), producing overlap and hence stuttering — i.e., a malfunction of feedback–feedforward integration. The thesis paraphrases this as stuttering being caused by erroneous sensory predictions that trigger feedback corrections.