Plasma control in tokamaks. Part 3.1. Plasma magnetic control systems in ITER

The plasma magnetic control systems for ITER (International Thermonuclear Experimental Reactor) are presented. The systems comprise original engineering solutions for plasma position, current and shape control for the two versions of ITER: ITER-1 and ITER-2, including those designed in V. A. Trapeznikov Institute of Control Sciences of the RAS. It is noted that in ITER-1 the plasma position and shape were controlled by all PF-coils and robust $H _{\infty }$-controllers, while to decrease peaks of control power for suppressing the minor disruption the additional nonlinear circuit was used without significant changes in displacements of the gaps between the plasma separatrix and the first wall. In ITER-2 the special circuit with a fast voltage rectifier was used for plasma stabilization about zero, while for plasma current and shape control the special cascade control systems were designed with and without the control channels decoupling, with robust $H _{\infty }$-controllers and predictive model, and with adaptive stabilization of the plasma vertical position as well. To increase the plasma controllability region in vertical direction the additional horizontal field coils were introduced into the ITER-2 vacuum vessel and the capabilities of the system with the new circuits to control the plasma vertical position at the noise presence were investigated.