Integration of the state observer RAPTOR in the real-time MARTe framework at RFX-mod

The RAPTOR - RApid Plasma Transport simulatOR code is a model-based control-oriented code that predicts Tokamak plasma profile evolution in real-time. One of its key applications is in a state observer, where the real-time predictions are combined with the measurements of the available diagnostics, yielding a complete estimate of the plasma profiles. The state observer RAPTOR is currently installed in the real-time control system of TCV, where it has been originally developed, ASDEX-Upgrade and recently RFX-mod. The latter has pioneered its integration in the real-time MARTe - Multi-threaded Application Real-Time executor framework, which will be the topic of this work. Thanks to this, RFX-mod can now contribute to develop integrated control techniques based on the state observer RAPTOR to avoid disruptions, which are highly reproducible in q(a) <2 RFX-mod Tokamak plasmas if they are left uncontrolled.