A four-segment biomechanical model and a control characterizing the action of the central nervous system (CNS) are used to investigate optimization of the postural stabilization process and the execution of voluntary movement. The point-to-point voluntary movement is optimized using different measures of performance (cost functions) in the time- and frequency domains. In particular kinematic measure (jerk) and an LQ-type measure are considered and compared. The results of the study show that jerk optimization is better suited for musculoskeletal systems in synthesis of voluntary movement. These results are consistent with the existing literature.