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I think reafferent loop is a mechanism that has been evolved in such a way to fisrt, minimize the energy/time of finding inputs from environment, and second, reinforce our brain of the pattern of our behavior (making even closer connection between brain and behavior). 

The loop draws a parallel to the following analogy: in mathematics, the shortest line that can be drawn from the two points, A and B, is a straight line between them.  This simple analogy exemplifies the first point which is the loop minimizes the energy/time of finding inputs from environment. 

The second point can be further expanded.  Reafferent loop forms reinforces one's identity and pattern through recycling the information originated from oneself within one's neural system.  For example, a person can observe one's health over long periods of time and figure out which food they need to eat and which they should avoid.  They tend to study their life-rhythms throughout their life.  This self-feedback or control is i think the result of evolution, indicative of more efficient and better neural pattern with minimum energy for maximum adaptation.