Upgrade of the COMPASS tokamak real-time control system

• An upgrade of the COMPASS real-time system has been made to generally improve the plasma performance.
• Stability of discharges in SNT configuration has been increased.
• Plasma flat-top phase length has been extended.
• Central solenoid protection has been developed.
• Plasma position estimation has been improved.

The COMPASS plasma control system is based on the MARTe real-time framework. Thanks to MARTe modularity and flexibility new algorithms have been developed for plasma diagnostic (plasma position calculation), control (shaping field control), and protection systems (central solenoid protection). Moreover, the MARTe framework itself was modified to broaden the communication capabilities via Aurora.This paper presents the recent upgrades and improvements made to the COMPASS real-time plasma control system, focusing on the issues related to precision of the real-time calculations, and discussing the improvements in terms of discharge parameters and stability. In particular, the new real-time system has given the possibility to analyze and to minimize the transport delays of each control loop.