Trenchless technology facilitates the installation, replacement, or rehabilitation of underground utility systems with minimum disruption of the surface. Horizontal Directional Drilling (HDD) is used for pipelines installation beneath buildings, forests, or lacks without excavation or at least minimum digging. HDD requires less surface area disturbance to accomplish the installation process and minimizes the drilling time and cost. Quad Motor Drilling Heads (QMDH) were recently proposed to achieve smooth and intuitive directional drilling. A QMDH uses four drilling bits, independently controlled by 4 downhole motors. In this paper a real-time control and optimization of the QMDH is simulated and extensively evaluated under various drilling scenarios. The control commands include the angular velocity and torque of each of the 4 motors. The real-time control is updated at regular distance intervals. The proposed control algorithm selects the drilling parameters in order to minimize the time of the drilling process and the deviation from the target trajectory.