The cerebrum controls the voluntary motor actions.It is the site of sensory perceptions; like tactile and auditory perceptions.It is the seat of learning and memory.
Cerebellum: Cerebellum lies below the cerebrum and at the back of the whole structure. It coordinates the motor functions. When you are riding your bicycle; the perfect coordination between your pedaling and steering control is achieved by the cerebellum.
Medulla: Medulla forms the brain stem; along with the pons. It lies at the base of the brain and continues into the spinal cord. Medulla controls various involuntary functions; like hear beat, respiration, etc.