Three anatomical characteristics (A, B and C) of invertebrate nervous system are used to build a generalized cladogram given below. Presence of the anatomical character is indicated by 

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Loriciferans contains a paired ventral nerve cord whereas nematodes and nematomorpha contain unpaired ventral nerve cord.
        The blueprint of the arthropod CNS consists of a dorsal cephalic ganglion, the ‘brain’, followed by a chain of ventral ganglia, the ventral cord. In the Spiralia (e.g. Gnathifera, Trochozoa) the main neural tracts found in theventro-lateral body region are paired.
        Within Spiralia, Gnathifera may represent the deepest branching lineage comprising the jaw worms Gnathostomulida and their sister group Micrognathozoa +Syndermata. Their intra-epidermal, unsegmented nervous systems comprise an anterior brain and three to five ventral and two to four dorsal longitudinal nerves, connected by few transverse commissures. Neurites of the stomatogastric nervous system were found lining the pharynx and connecting to a prominent buccal ganglion. The entire body of Onychophora, including the stub feet, is littered with numerous papillae: warty protrusions that carry a mechanoreceptive bristle (responsive to mechanical stimuli) at the tip, each of which is also connected to further sensory nerve cells lying beneath. The mouth papillae, the exits of the slime glands, probably also have a function in sensory perception. Sensory cells known as “sensills” on the “lips” or labrum respond to chemical stimuli and are known as chemoreceptors. These are also found on the two antennae, which can be regarded as the velvet worm’s most important sensory organs. Except in a few (typically subterranean) species, one simply constructed eye (ocellus) lies laterally, just underneath the head, behind each antenna.