...-section. The actual cross-section of the drills is incorporated to the model through a polynomial mapping while the pretwist effect is captured by defining a rotating reference frame. The boundary-value problem for both one- and three-dimensional models are derived using a variational approach, based...

... feedback controllers for the axial and path forces are designed using the polynomial pole placement technique. The controllers are implemented in a Smith predictor-corrector structure to compensate for the inherent equipment communication delays, and the controller parameters are tuned to achieve the best...