Methods and apparatus for toolface control are disclosed herein. Such toolface controls may be provided responsive to measurement-while-drilling (MWD) data. A dynamic model of the drilling apparatus may be constructed and estimations of one or more characteristics of the drilling apparatus (e.g., toolface orientation) may be determined from the dynamic model. MWD data may be periodically received and an error factor may be determined from the estimation and the MWD data. The dynamic model may be adjusted and an updated estimation may be determined from the updated dynamic model. Data from the determinations using the dynamic model and/or the updated dynamic model may be used to control operation of the drilling apparatus and adjust one or more operational parameters of the drilling apparatus responsive to updated estimations.