Real-time downhole drilling mud viscosity and density estimations

A non-transitory computer-readable medium encoded with instructions that, when executed, cause a system comprising a mud circulation system having drilling mud flowing therethrough to perform a method comprising:

• receiving a plurality of measurements from a plurality of sensors coupled to the mud circulation system;
• modeling in real-time drilling mud flow dynamics in the drilling mud using a mathematical dynamics model;
• predicting physical states of the drilling mud with the mathematical dynamics model, thereby producing model physical state predictions;
• inputting the measurements into the mathematical dynamics model;
• and
• adapting the mathematical dynamics model based at least in part on discrepancies between the model physical state predictions and the measurements;
• and
• changing an operational parameter of the mud circulation system based on at least one value derived from the adapted mathematics dynamics model.