An overview of the software architecture of the plasma position, current and density realtime controller of the FTU

Experimental fusion devices requires flexible control systems with a modern architecture, which allows the controller to be distributed and modular. The aforementioned requirements are all fulfilled by MARTe, a multi-platform framework for the development of low-latency hard-real-time control system already used with success in many European machine, it was decided to adopt it as the basis of the new FTU Plasma Position Current Density Control (PPCDC) system and the other coupled realtime systems. The main rationale to revamp the FTU control system was to use new technologies and to easily test different control solutions. MARTe has been proved effective from both the points of view, being platform independent, and having a modular architecture which completely separate the control algorithms from the rest of the infrastructure. We report on the new controller deployed at FTU. In particular, after a brief introduction on the machine, we illustrate the structure of the feedback system, together with a detailed analysis and appropriate experimental examples, of the various GAMs (modules) which make up the controller.