This paper is focused on the linear quadratic Gaussian (LQG) controller synthesis methodology for the ITER plasma current, position and shape control system as well as power derivative management system. It has been shown that some poloidal field (PF) coils have less influence on reference plasma-wall gaps control during plasma disturbances and hence they have been used to reduce total control power derivative by means of the additional non-linear feedback. The design has been done on the basis of linear models. Simulation was provided for non-linear model and results are presented and discussed.