Lock system
This system represent a Lock system in which a boat try to overcome the different water level of a river. We oversimplified on purpose the model in order to grasp the general idea and to get the right analysis. By abstracting some idea we were able to model a system with two tanks and one controller and make the system able to do his job. The system has to put the boat in a position where it can navigate the river despite the gap between the water level of the river. In doing so the system required a certain amount of energy that we have to record.
The locks in our case are tanks since ariadne does not provide such feature.
The image below took from the websites: http://www.greatlakes-seaway.com/en/seaway/locks/index.html
This location represent the dynamics of the lock. It is constructed with a pump to increase the water level in order to reach the higher river level so the boat could tackle the difference in water level and continue to navigate. Secondly has a small output to empty the lock and be ready for the next boat.
This is the control model that has to deal with the valve so can pump the water to increase the water level. This controller has been built with a proportional controller.
