Command following and disturbance rejection for drillstring systems

Abstract

In this paper a P-D state feedback law is proposed to control the angular velocity of the bit of an drillstring system. The design objective is: the angular velocity of the bit to follow a desired signal independently from the external torque applied from the ground to the bit of the system. The general P-D feedback satisfying the above design goal together with asymptotic stability is determined. Simulation results illustrate the performance of the scheme.