Advanced tokamak (AT) research seeks to develop steady-state operating scenarios for ITER and other future devices from a demonstrated scientific basis. Normalized target parameters for steady-state operation on ITER are 100% non-inductive current operation with a bootstrap current fraction fBS ⩾ 60%, q95 ∼ 4–5 and . Progress in realizing such plasmas is considered in terms of the development of plasma control capabilities and scientific understanding, leading to improved AT performance. NSTX has demonstrated active resistive wall mode stabilization with low, ITER-relevant, rotation rates below the critical value required for passive stabilization. On DIII-D, experimental observations and GYRO simulations indicate that ion internal transport barrier (ITB) formation at rational-q surfaces is due to equilibrium zonal flows generating high local E × B shear levels. In addition, stability modelling for DIII-D indicates a path to operation at βN ⩾ 4 with qmin ⩾ 2, using broad, hollow current profiles to increase the ideal wall stability limit. Both NSTX and DIII-D have optimized plasma performance and expanded AT operational limits. NSTX now has long-pulse, high performance discharges meeting the normalized targets for an spherical torus-based component test facility. DIII-D has developed sustained discharges combining high beta and ITBs, with performance approaching levels required for AT reactor concepts, e.g. βN = 4, H89 = 2.5, with fBS > 60%. Most importantly, DIII-D has developed ITER steady-state demonstration discharges, simultaneously meeting the targets for steady-state Q ⩾ 5 operation on ITER set out above, substantially increasing confidence in ITER meeting its steady-state performance objective.