A directional drilling system includes a bottomhole assembly having a drill bit and a steering tool configured to adjust a drilling direction in real-time. The system also includes a first feedback loop that provides a first steering control signal to the steering tool, and a second feedback loop that provides a second steering control signal to the steering tool. The system also includes a set of sensors to measure at least one of strain and movement at one or more points along the bottom-hole assembly during drilling, wherein the first and second steering control signals are based in part on the strain or movement measurements.