Motivated　by　recent　physiological　and　anatomical　evidence,　a　new　feedback　error　learning　scheme　is　proposed　for　tracing　in　motor　control　system.　In　the　scheme,　the　model　of　cerebellar　cortex　is　regarded　as　the　feedforward　controller.　Specifically,　a　neural　network　and　an　estimator　are　adopted　in　the　cerebellar　cortex　model　which　can　predict　the　future　state　and　eliminate　faults　caused　by　time　delay.　Then　the　new　scheme　was　used　to　control　inverted　pendulum.　The　simulation　experimental　results　show　that　the　new　scheme　can　learn　to　control　the　inverted　pendulum　for　tracing　successfully.　©　Springer-Verlag　Berlin　Heidelberg　2006.