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*The '''[https://en.wikipedia.org/wiki/Free_energy_principle Free Energy Principal]''' (FEP)<ref name=Friston2006> Friston, K.; Kilner, J.; Harrison, L. (2006), A free energy principle for the brain. Journal of Physiology-Paris. Elsevier BV. 100 (1–3): 70–87. doi:10.1016/j.jphysparis.2006.10.001</ref> is a model for how living and non-living systems remain in non-equilibrium steady-states by restricting themselves to a limited number of states. The model is closely connected to autopoiesis and provides a principle by which systems may create an internal model of the outside environment in order to maintain their own integrity. The minimisation of free energy is formally related to variational Bayesian methods and was originally introduced as an explanation for embodied perception in neuroscience.