Plasma vertical stabilization in the presence of coil voltage saturation in the DIII-D tokamak

An anti-windup compensator is implemented for a given nominal plasma vertical controller guaranteeing global vertical stabilization of the plasma in the presence of actuator saturation for all reference commands. The anti-windup synthesis problem is to find a nonlinear modification of the nominal linear controller that prevents vertical instability and undesirable oscillations, but leaves the nominal closed loop unmodified when there is no input saturation.