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The main objective of this paper is the development of overlapping decomposition strategy for controller design of rotary drilling systems based on the state feedback technique. The lamped model of the system has been considered, Graph-based representation has been used to rearrange the states of the model, and then a new model has been decomposed into subsystems after analyzing the interconnection terms. The expansion–contraction principle, combined with Lyapunov theory, is used to investigate the global stability of the decomposed system so that controllability of the designed controller is guaranteed and its robustness is improved. Moreover, the designed strategy has been validated with high-frequency mode stick-slip vibrations data measured in an operational rotary drilling system of an exploration well drilled in an Algerian hydrocarbon field.

Decentralized Overlapping Control Design with Application to Rotary Drilling System