In recent years a strong effort has been made to investigate disruption avoidance schemes in order to aid the development of integrated operational scenarios for ITER. Within the EUROfusion programme the disruptive H-mode density limit (HDL) has been studied on the WPTE (Work Package Tokamak Exploitation) devices ASDEX Upgrade, TCV and JET. Advanced real-time control coupled with improved real-time diagnostics has enabled the routine disruption avoidance of the HDL. This allowed the systematic study of the influence of various plasma parameters on the onset and behavior of the HDL in regimes not easily accessible otherwise. The upper triangularity delta(top) is found to have a significant influence on the x-point radiator (XPR), which plays a major role for the evolution of the disruptive HDL. At high delta(top) the gas flow rate at which the onset of the XPR occurs is strongly reduced compared to low delta(top) . The reduction of delta(top) has proven to be an effective actuator for the HDL disruption avoidance on ASDEX Upgrade for highly shaped scenarios ( delta(top)>0.25 ). It is observed that the occurrence of the XPR and the H-L transition at the density limit are two separate events, the order of which depends on the applied auxiliary heating power. At sufficiently high heating power the XPR occurs before the H-L transition. Impurity seeding, used for divertor detachment, influences the onset and the dynamics of the XPR and the behavior of the HDL. The stable existence of the XPR, which is thought to be a requirement for detachment control in future devices, has also been observed without impurity seeding. The implementation of a robust and sustainable operational scenario, e.g. for ITER, requires the combination of continuous control and exception handling. For each disruption path the appropriate observers and actuators have to be validated in present devices. Automation of the dynamic pulse schedule has proven successful to scan the operational space of the HDL without disruption. Applying such a technique to ITER could reduce the machine risk induced by disruptions during commissioning. The methodology to develop physics-based observers, which indicate the entry into a disruption path well in time, and applying the appropriate action before the discharge becomes unstable has proven successful.