A nonlinear controller for the plasma vertical position in a Tokamak, based on a discrete-time adaptive near time optimum control algorithm (DANTOC) is designed to stabilize the system and to maximize the state-space region over which stability can be guaranteed. The controller is also robust to the edge localized modes (ELMs) and the 600 Hz noise from the thyristor power supplies that are the primary source of disturbances and measurement noise. The controller is tested in simulation for the JET Tokamak and the results confirm its efficacy in controlling the vertical position for different plasma configurations. The controller is also tested experimentally on a real Tokamak, COMPASS-D, and the results demonstrate the improvement with respect to a simple linear PD controller in the presence of disturbances and measurement noise. The emphasis of the is on the development of the design methodology.
['L. Scibile', 'B. Kouvaritakis']
A discrete adaptive near-time optimum control for the plasma vertical position in a Tokamak