Resistive wall mode feedback control in EXTRAP T2R with improved steady-state error and transient response

Experiments in the EXTRAP T2R reversed field pinch [P. R. Brunsell, H. Bergsaker, M. Cecconello et al., Plasma Phys. Control. Fusion 43, 1457 (2001)] on feedback control of m=1 resistive wall modes (RWMs) are compared with simulations using the cylindrical linear magnetohydrodynamic model, including the dynamics of the active coils and power amplifiers. Stabilization of the main RWMs (n=-11,-10,-9,-8,+5,+6) is shown using modest loop gains of the order G similar to 1. However, other marginally unstable RWMs (n=-2,-1,+1,+2) driven by external field errors are only partially canceled at these gains. The experimental system stability limit is confirmed by simulations showing that the latency of the digital controller similar to 50 mu s is degrading the system gain margin. The transient response is improved with a proportional-plus-derivative controller, and steady-state error is improved with a proportional-plus-integral controller. Suppression of all modes is obtained at high gain G similar to 10 using a proportional-plus-integral-plus-derivative controller. (C) 2007 American Institute of Physics.