Main

## Main.OptionApmMvDcostSlope History

June 01, 2017, at 07:40 PM by 45.56.3.173 -
Changed lines 9-10 from:
 Description: Slope for penalization on future MV moves (i.e. reduces controller procrastination)

to:
 Description: Slope for penalization on future MV moves
to reduce controller procrastination

June 01, 2017, at 07:40 PM by 45.56.3.173 -
Added lines 1-11:

(:title APM.MV_DCOST_SLOPE - APMonitor Option:) (:keywords APM.MV_DCOST_SLOPE, Optimization, Estimation, Option, Configure, Default, Description:) (:description Slope for penalization on future MV moves (i.e. reduces controller procrastination):)

 Type: Floating Point, Input
Default Value: 0.1
Description: Slope for penalization on future MV moves (i.e. reduces controller procrastination)


MV_DCOST_SLOPE implements a linear increase in movement penalty (DCOST). The increase in DCOST favors near term movement in the manipulated variable. One issue with a deadband trajectory is a phenomena called controller procrastination where the optimal solution delays a move because it gives an equal objective function to wait one or more cycles. This causes the controller to be stuck in a state of inaction. Favoring movement on the first step of the controller avoids this delay in implementing the needed changes.