Special issue  

Despite significant progress in modelling of Quaternary climate dynamics, the comprehensive theory of glacial cycles is still lacking. Here, using the results of model simulations and data analysis, I present a framework of the Generalized Milankovitch theory (GMT), which father advances the concept proposed by Milutin Milankovitch over a century ago. The theory explains a number of facts which were not known during the Milankovitch time, such as the 100 kyr periodicity of the late Quaternary.