Design and analysis of robust controllers for directional drilling tools

Directional drilling is a very important tool for the development of oil and gas deposits. Attitude control which enables directional drilling for the efficient placement of the directional drilling tools in petroleum producing zones is reviewed along with the various engineering requirements or constraints. This thesis explores a multivariable attitude governing plant model as formulated in Panchal et al. (2010) which is used for developing robust control techniques. An inherent input and measurement delay which accounts for the plant's dead-time is included in the design of the controllers. A Smith Predictor controller is developed for reducing the effect of this dead-time. The developed controllers are compared for performance and robustness using structured singular value analysis and also for their performance indicated by the transient response of the closed loop models. Results for the transient non-linear simulation of the proposed controllers are also presented. The results obtained indicate that the objectives are satisfactorily achieved