The Voluntary Nervous System controls muscles. The Autonomic Nervous System modulates vegetative functioning. Feelings are experienced by signals from the brain through the Enteric Nervous System where they are experienced in the viscera as feelings. The Endocrine System also modulates through the blood stream. Compared to the Autonomic Nervous System, the Endocrine Nervous System is generally slower to respond.
The nervous system maintains balance by being both proactive and reactive. Memory, instinct and complex processing are systems which give the ability to predict time and space, thereby facilitating adaptation. There is a redundancy of positive and negative feedback/feed forward effects, which facilitate balance in spite of change in other systems, thus maintaining a dynamic balance. (See diagram: Nervous System)