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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 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. Since it is the models that systems internally create under the FEP that may have relevance to perception, and not FEP directly itself, FEP can be thought of as giving a high-level view point of the potential connections between systems and perception. It also has been claimed to be closely connected that FEP has a connection to [https://en.wikipedia.org/wiki/Autopoiesis autopoiesis], but some claim this, at best, has yet to be shown<ref name=Paolo2021> Di Paolo, E. A.; Thompson, E.; Beer, R. D. (2021), Laying down a forking path: Incompatibilities between enaction and the free energy principle. https://psyarxiv.com/d9v8f</ref>.