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9. A method comprising: storing a wellbore plan in a memory device of a rotary steerable system; computing a position and attitude of a drill bit within a wellbore; computing a wellbore trajectory error, while the rotary steerable system is downhole within the wellbore, between (i) the position of the drill bit and a well plan position and (ii) the attitude of the drill bit and a well plan attitude of the wellbore plan; determining an inclination set-point change command and an azimuth set-point change command using the wellbore trajectory error to minimize the wellbore trajectory error to adhere to the well plan, wherein determining the inclination set-point change command and the azimuth set-point change command accounts for a response depth comprising a spatial delay and a telemetry delay; and steering the drill bit using the inclination set-point change command and the azimuth set-point change command.
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