Method for real-time pad force estimation in rotary steerable system

Pad force is one of the major parameters in some drilling systems, such as a RSS, that affect steering decisions during drilling. The disclosure recognizes that the pad force can change during drilling due to, for example, unintentional leaking through a pad seal that has been damaged due to the wear and tear of drilling. With a decrease in the pad force, the steering capability of the drilling tool can be compromised. As such, the disclosure provides a method and system that determines pad force information in real time for controlling drilling. The pad force information can be determined based on sensor data, component data, and drilling data. An estimated pad force is one example of the pad force information that can be calculated and used to direct a drilling operation.