Aspects of drill-string vibrations in the context of a recently developed integrated model of a drill-rig assembly based on the Cosserat theory of rods are discussed. Computer simulations are used to compare existing rotary feedback strategies currently in use to optimise drilling performance where torsional slip-stick vibrations are a hazard. Guided by the wave nature of axial and torsional vibrations in axially symmetric drill-string configurations, we present a new control mechanism, torsional rectification, and compare its performance with existing controllers within the context of the model. The practical guidelines for the improvement of drilling rates in a wide variety of circumstances are discussed.