Patent Document ID: 10024151
Application ID: 15035448
Patent Flag: 1

Claim One:
1. A computer-implemented method of controlling a bottom hole assembly (BHA), the method comprising: determining a model of BHA dynamics based on sensor measurements from the BHA; determining, based on the model of BHA dynamics, an objective function comprising a predicted future deviation from a planned wellbore path; determining a control input to the BHA to reduce deviation between a desired and predicted trajectory, without an intermediate operation, that satisfies the objective function for a set of operating conditions of the BHA, wherein the control input controls the BHA to reduce the deviation; generating, at a secondary system, relational information that relates the control input to the set of operating conditions, further comprising: determining a first control input to the BHA that satisfies the objective function for a first set of operating conditions of the BHA; determining a second control input to the BHA that satisfies the objective function for a second set of operating conditions of the BHA; determining that the first control input to the BHA and the second control input to the BHA are identical to each other; combining the first set of operating conditions and the second set of operating conditions into a combined set of operating conditions; and relating, in the relational information, the combined set of operating conditions to a single control input that corresponds to both the first and second control inputs; transmitting the relational information from the secondary system to the BHA; and controlling the BHA using the relational information.