Plasma position, shape and current control systems in T-15 tokamak

The paper considers issues of development and mathematical modeling of plasma position, shape and current magnetic control systems in T-15 tokamak. Two magnetic plasma control systems are considered: the two-cascade system with control channel decoupling, MIMO $H_\infty$-controller at plasma vertical position pulse stabilization via the PWM element; and the control system based on state vector estimation in discrete time with state observer in the feedback loop. The operation of the second system is considered in two cases: with and without plasma vertical instability suppression loop.