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This book reviews recent progress in our understanding of tokamak physics related to steady state operation, and addresses the scientific feasibility of a steady state tokamak fusion power system. It covers the physical principles behind continuous tokamak operation and details the challenges remaining and new lines of research towards the realization of such a system. Following a short introduction to tokamak physics and the fundamentals of steady state operation, later chapters cover parallel and perpendicular transport in tokamaks, MHD instabilities in advanced tokamak regimes, control issues, and SOL and divertor plasmas. A final chapter reviews key enabling technologies for steady state...