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STEPS TO BE FOLLOWED:
Software that has been used for the developing this cerebellar architecture:
-MATLAB VERSION 2009b
-MATLAB ROBOTIC TOOLBOx from Peter Corke version 6 
- MICROSOFT VISUAL STUDIO 2008

1. - DOWNLOAD THE MATLAB ROBOTIC TOOLBOX FROM:
http://petercorke.com/Robotics_Toolbox.html. The code has been
developed using and older version of this robotic toolbox Download
Release 6 in pkzip format (2/2007).
2. - Add the toolbox and the supplied matlab code to the matlab Path.
3. - Compile the recursive newton eurler function and locate the
resulting .mex file under the matlab path too. Under 32bit windows
O.S. we can type on the matlab windows command
>> mex frne.c ne.cvmath.c
4.- Compile de cerebellar architecture
mex . CerebellumIODCNAbstract.cpp SimulinkBlockInterface.cpp
5.- Ones all the mex files are availables, open the Launchers in
matlab. LaunchCerebellumSimulinkExternalForce.m &
LaunchCerebellumSimulink.m
6- Run the launchers.