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The main topic of Magnetic Control of Tokamak Plasmas is the design of feedback control systems guaranteeing the stability of plasma equilibrium inside a tokamak and the regulation of the plasma position and shape during plasma pulses. Modelling and control details are presented, allowing the non-expert to understand the control problem. Starting from equations of magneto-hydro-dynamics, all the steps needed for the derivation of plasma state-space models are enumerated. The basics of electromagnetics are frequently recalled. The control problem is then described beginning with control of current and position – vertical and radial – and progressing to the more challenging shape control. The solutions proposed vary from simple PIDs to more sophisticated MIMO controllers.