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We present a review of action and perception stability within the theoretical framework based on the idea of control with spatial referent coordinates for the effectors at a number of hierarchical levels. Stability of salient variables is ensured by synergies, neurophysiological structures that act in multi-dimensional spaces of elemental variables and limit variance to the uncontrolled manifold during action and iso-perceptual manifold during perception. Patients with Parkinson's disease show impaired synergic control reflected in poor