Perspectives of voluntary movements mathematical modelling in the framework of N. Bern-stein's views on functional nature of action are discussed. Cognitivistic vs synergetic approaches are compared for two classes of movements - aiming and rhythmic. Modern practice of cognitive approach based on structure concept does not make it possible to explain the fact of movement emergence. On the other hand self-organizational theory tends to ignore the structural features of movement and has to borrow the concept of structural information-specific boundary conditions from cognitivistic domain. The author argues that two approaches are complementary and makes the attempt to unify them.