In this patent, computational models and methods and systems of using the model to estimate variable time delay in the sensorimotor system of a subject are provided. The computational model can estimate variable time delays in the sensorimotor system, predict sensory states based on delayed sensory feedback, and/or control the system in real-time. The subject can be a human or a primate. Simulation experiments can show how the model can explain a sensorimotor system’s ability to compensate for delays during online learning and control.