The behavior of individual subjects is compared with a hierarchical control system model of behavioral organization. Subjects varied the position of two control handles simultaneously to keep the distance constant between two pairs of lines. Three variations on this basic experiment that illustrate some fundamental properties of coordinated action are shown: first, how independent actions, compensating for unpredictable and undetectable disturbances, can produce a single behavioral result; second, how the ability to produce a particular result is maintained when the connection between action and result is changed; and third, how two independent outputs can appear to be related as coordinative structures when one output disturbs a result being controlled by the other. The correlation between the behavior of subjects and model in all experiments is typically on the order of .99. A detailed examination of the operation of the model shows that actions are structured by perception, not by central commands or equations of constraint.