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...