Toward the implementation of an anti-windup scheme for vertical and shape control in the DIII-D Tokamak

The shape and vertical controller, which can be integrated in the future with control of plasma profiles, is the first step in the development of an integrated multivariable controller for the advanced Tokamak (AT) operation mode in the DIII-D Tokamak. In this work, we focus on the constraints on actuator voltages and introduce an anti-windup scheme developed to accommodate the limitations of the plant in terms of access to the states, computational effort, and design complexity. This anti-windup augmentation is implemented for both the vertical loop (linear exponentially unstable plant) and the shape loop (nonlinear stable plant) in the DIII-D Tokamak.