A method for estimating a probability of a drilling dysfunction or a drilling performance indicator value occurring includes entering drilling-related data having a probability distribution into a mathematical model of a drill string drilling a borehole penetrating the earth and entering drilling parameters into the model for drilling the borehole. The method further includes performing a plurality of drilling simulations using the model, each simulation providing a probability of the drilling dysfunction occurring or a probability of a drilling performance indicator value occurring with associated drilling parameters used in the simulation, selecting a set of drilling parameters that optimizes a drilling objective using the probabilities of the drilling dysfunction occurring or the probabilities of a drilling performance indicator value occurring; and transmitting the selected set of drilling parameters to a signal receiving device.
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