Abstract: A continuous feed drilling system and controller includes a head assembly having first and second chucks synchronized to rotate at the same rotational velocity. The chucks are independently moveable within the head assembly and their positions are measured by linear transducers. The controller causes the first chuck to engage with a drill stem and begin rotating and advancing. The controller uses the outputs of the linear transducers to determine the linear velocity of the advancing first chuck and synchronize the linear velocity of the first and second chucks. The controller then causes the second chuck to engage the drill stem and causes the first chuck to release the drill stem. The process is repeated, alternating the roles of the first and second chucks, thus creating a continuous drilling motion.