The paper deals with the improvement of the poloidal system of the IGNITOR tokamak, and the design and simulation of the robust decentralised control systems of the plasma’s vertical and horizontal position. The results were obtained on a linear model that is constructed from the circuit equations for the coils, plasma, and vacuum vessel (VV) currents, and from the force balance equations for the plasma. Two new coils that are located close to the VV have been introduced in the IGNITOR poloidal system; specifically, a Horizontal Field Coil (HFC) that is designated for the plasma vertical position control and a Vertical Field Coil (VFC) that is used for the horizontal position control. For the first time in the design of D-shaped tokamaks poloidal systems, the location of the HFC was optimised to achieve the maximum size of the plasma controllability region in the vertical direction and the location of the VFC was determined from the optimisation of the plasma position response to the voltage step function. Although the ideal position of the VFC with fast response time is on the equatorial plane, its location usually is occupied by the other devices such as ports, diagnostic system, and heating systems, so the separated two-section VFC is used. Careful calculation shows the performance is degraded by only 20 % in this layout. For the improved IGNITOR poloidal system, the new robust decentralised plasma position control systems were designed by means of two robust approaches: H_inf-optimisation and Linear Matrix Inequalities (LMI). The results of the simulation of the control systems with two types of actuator models as the multiphase thyristor rectifier and the voltage inverter in Pulse- Width Modulation (PWM) mode for the new IGNITOR poloidal system are presented.