In reply to Lou Heavner:
Books On Line (BOL) has some good information on the topics of Penaltly on Move (POM) and Penalty on Error (POE). See the topic "Tailoring MPC Control Peformance". Note that you can install BOL on your non-DeltaV computer for easy access. The actual calculation that is used in Predict or PredictPro to caculate the "default" POM is PMi = 3(1+DTi/20+ Gi*DTi/40)
where:
DTi is the deadtime/module execution period (in MPC scans) for Mvi -> Cvi relation
Gi – gain (no units) for Mvi ->Cvi relation
However, this is a slider bar in the Predict or PredictPro "controller generation" step that you can move from Performance (lowest POM's) to Robust (highest POM's). I usually check the extremes of the POM's from this setting to get a feel for my own changes to POM's. Note that you have to be in the "Expert" mode to change the POM's or POE's.
As Lou says, I use POE in a range of 0.8 - 1.2 to put more emphasis on getting a control or constraint variable to its target setpoint. I have found that a maximum POE of about 0.5 seems to work well on integrating variables. There are a few cases were I want to a SLOWLY optimize an MV but I want it to be able to move the MV fast for to obtain other CV and LV targets. In this case, I create a "shadow" CV for the MV, and put a small (e.g. 0.1) POE but a leave the POM low.
Hope this helps!