This paper describes the design of attitude-hold controllers and their subsequent stability and performance analysis for directional drilling tools as typically used in the oil industry. Based on an input transformation developed in earlier work that partially linearizes and decouples the plant dynamics of the drilling tool, the resulting plant model is used as the basis for both pole placement and optimal H controller designs. A mixed uncertainty stability and performance analysis is then performed on each of the controller designs. Results for a transient simulation of the proposed controller are also presented.

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