def main(kc=AGENT_PARAMS["KC"]):
environment = Environment(TANK_PARAMS, TANK_DIST, MAIN_PARAMS)
controller = P_controller(environment, AGENT_PARAMS, kc)
init_h = TANK_PARAMS["init_level"] * TANK_PARAMS["height"]
h = [init_h]
z = [AGENT_PARAMS["INIT_POSITION"]]
d = [TANK_DIST["nom_flow"]]
reward = []
max_time = MAIN_PARAMS["Max_time"]
for t in range(max_time):
new_z = controller.get_z(h[-1])
z.append(new_z)
new_h = environment.get_next_state(z[-1], t)
new_reward = get_reward(h[-1] / 10, False)
reward.append(new_reward)
if TANK_DIST["add"]:
new_d = environment.model.dist.flow[t]
d.append(new_d)
h.append(new_h)
if environment.show_rendering:
environment.render(z[-1])
if keyboard.is_pressed("ctrl+x"):
break
_, (ax1, ax2, ax3) = plt.subplots(3, sharex=False, sharey=False)
ax1.plot(h[:-1], color="peru", label="Tank 1")
ax1.set_ylim(0, 10)
ax1.set_ylabel("Level")
ax1.legend()
ax2.plot(z[1:], color="peru", label="Tank 1")
ax2.set_ylabel("Valve")
ax2.legend()
ax2.set_ylim(-0.01, 1.01)
ax3.plot(d[:-1], color="peru", label="Tank 1")
ax3.set_ylabel("Disturbance")
ax3.legend()
# plt.legend([l1, l2, l3], ["Tank height", "Valve position", "Disturbance"])
plt.tight_layout()
plt.xlabel("Time")
plt.show()
return np.sum(reward)
def main():
#============= Initialize variables ===========#
environment = Environment()
agent = Agent()
# ================= Running episodes =================#
all_rewards = []
batch_size = BATCH_SIZE
for e in range(EPISODES):
state, action, next_state, episode_reward = environment.reset(
) # Reset level in tank
# Running through states in the episode
for t in range(MAX_TIME):
action = agent.act(state)
z = agent.action_choices[action]
terminated, next_state = environment.get_next_state(z, state)
reward = environment.get_reward(next_state, terminated, t)
agent.remember(state, action, next_state, reward, terminated)
episode_reward += reward
if terminated:
break
if environment.show_rendering:
environment.render(z, next_state[-1])
if len(agent.memory) > batch_size:
agent.replay(batch_size)
if keyboard.is_pressed('ctrl+c'):
break
# Live plot rewards
# agent.decay_exploration()
all_rewards.append(episode_reward)
if keyboard.is_pressed('ctrl+c'):
break
if LIVE_REWARD_PLOT:
environment.plot(all_rewards, agent.epsilon)
if not environment.running:
break
print("##### {} EPISODES DONE #####".format(e))
print("Max rewards for all episodes: {}".format(np.max(all_rewards)))
print("Mean rewards for the last 10 episodes: {}".format(
np.mean(all_rewards[-10:])))
if SAVE_ANN_MODEL:
print("ANN_Model was saved")
def main():
# ============= Initialize variables and objects ===========#
max_mean_reward = MAIN_PARAMS["MAX_MEAN_REWARD"]
environment = Environment(TANK_PARAMS, TANK_DIST, MAIN_PARAMS)
agent = Agent(AGENT_PARAMS)
mean_episode = MAIN_PARAMS["MEAN_EPISODE"]
episodes = MAIN_PARAMS["EPISODES"]
all_rewards = []
all_mean_rewards = []
t_mean = []
# ================= Running episodes =================#
try:
for e in range(episodes):
states, episode_reward = environment.reset() # Reset level in tank
for t in range(MAIN_PARAMS["MAX_TIME"]):
actions = agent.act(states[-1]) # get action choice from state
z = agent.get_z(actions)
terminated, next_state = environment.get_next_state(
z, states[-1], t
) # Calculate next state with action
rewards = sum_rewards(
next_state, terminated, get_reward
) # get reward from transition to next state
# Store data
rewards = sum_rewards(next_state, terminated, get_reward)
rewards.append(np.sum(rewards))
episode_reward.append(rewards)
states.append(next_state)
agent.remember(states, rewards, terminated, t)
if environment.show_rendering:
environment.render(z)
if True in terminated:
break
episode_reward = np.array(episode_reward)
episode_total_reward = []
t_mean.append(t)
for i in range(environment.n_tanks + 1):
episode_total_reward.append(sum(episode_reward[:, i]))
all_rewards.append(episode_total_reward)
# Print mean reward and save better models
if e % mean_episode == 0 and e != 0:
mean_reward = np.array(all_rewards[-mean_episode:])
mean_r = []
t_mean = int(np.mean(t_mean))
for i in range(environment.n_tanks + 1):
mean_r.append(np.mean(mean_reward[:, i]))
all_mean_rewards.append(mean_r)
print(
f"Mean {mean_episode} of {e}/{episodes} episodes ### timestep {t_mean+1} ### tot reward: {mean_r[-1]} \
r1: {mean_r[0]} ex1: {round(agent.epsilon[0],2)} r2: {mean_r[1]} ex2: {round(agent.epsilon[1],2)}"
)
t_mean = []
if mean_r[-1] >= max_mean_reward:
agent.save_trained_model()
max_mean_reward = mean_r[-1]
# Train model
if agent.is_ready():
agent.Qreplay(e)
if not environment.running:
break
# if agent.epsilon <= agent.epsilon_min:
# break
except KeyboardInterrupt:
pass
print("Memory length: {}".format(len(agent.memory)))
print("##### {} EPISODES DONE #####".format(e + 1))
print("Max rewards for all episodes: {}".format(np.max(all_rewards)))
all_mean_rewards = np.array(all_mean_rewards)
labels = ["Tank 1", "Tank 2"]
for i in range(environment.n_tanks):
plt.plot(all_mean_rewards[:, i], label=labels[i])
plt.legend()
plt.show()
plt.plot(all_mean_rewards[:, -1], label="Total rewards")
plt.ylabel("Mean rewards of last {} episodes".format(mean_episode))
plt.legend()
plt.show()
def main():
# ============= Initialize variables and objects ===========#
max_mean_reward = 50 * len(TANK_PARAMS)
environment = Environment(TANK_PARAMS, TANK_DIST, MAIN_PARAMS)
agent = Agent(AGENT_PARAMS)
mean_episode = MAIN_PARAMS["MEAN_EPISODE"]
episodes = MAIN_PARAMS["EPISODES"]
all_rewards = []
all_mean_rewards = []
# ================= Running episodes =================#
try:
for e in range(episodes):
states, episode_reward = environment.reset() # Reset level in tank
for t in range(MAIN_PARAMS["MAX_TIME"]):
actions = agent.act(states[-1]) # get action choice from state
z = agent.get_z(actions)
terminated, next_state = environment.get_next_state(
z, states[-1], t) # Calculate next state with action
rewards = sum_rewards(
next_state, terminated,
get_reward) # get reward from transition to next state
# Store data
episode_reward.append(np.sum(rewards))
states.append(next_state)
agent.remember(states, rewards, terminated, t)
if environment.show_rendering:
environment.render(z)
if True in terminated:
break
all_rewards.append(np.sum(np.array(episode_reward)))
# Print mean reward and save better models
if e % mean_episode == 0 and e != 0:
mean_reward = np.mean(all_rewards[-mean_episode:])
all_mean_rewards.append(mean_reward)
print("{} of {}/{} episodes\
reward: {} exp_1: {} exp_2: {}".format(
mean_episode,
e,
episodes,
round(mean_reward, 2),
round(agent.epsilon[0], 2),
round(agent.epsilon[1], 2),
))
if agent.save_model_bool:
max_mean_reward = agent.save_model(mean_reward,
max_mean_reward)
# Train model
if agent.is_ready():
agent.Qreplay(e)
if keyboard.is_pressed("ctrl+x"):
break
if environment.live_plot:
environment.plot(all_rewards, agent.epsilon)
if not environment.running:
break
# if agent.epsilon <= agent.epsilon_min:
# break
except KeyboardInterrupt:
pass
print("Memory length: {}".format(len(agent.memory)))
print("##### {} EPISODES DONE #####".format(e + 1))
print("Max rewards for all episodes: {}".format(np.max(all_rewards)))
plt.ioff()
plt.clf()
x_range = np.arange(0, e - e % mean_episode, mean_episode)
plt.plot(x_range, all_mean_rewards)
plt.ylabel("Mean rewards of last {} episodes".format(mean_episode))
plt.show()
def main():
environment = Environment(TANK_PARAMS_LIST, TANK_DIST_LIST, MAIN_PARAMS)
controllers = []
for i, AGENT_PARAMS in enumerate(AGENT_PARAMS_LIST):
controller = P_controller(environment, AGENT_PARAMS, i)
controllers.append(controller)
init_h = []
for TANK_PARAMS in TANK_PARAMS_LIST:
level = TANK_PARAMS["init_level"] * TANK_PARAMS["height"]
init_h.append(level)
init_z = []
for AGENT_PARAMS in AGENT_PARAMS_LIST:
init_z.append(AGENT_PARAMS["INIT_POSITION"])
init_d = []
for TANK_DIST in TANK_DIST_LIST:
init_d.append(TANK_DIST["nom_flow"])
h = [init_h]
z = [init_z]
d = [init_d]
reward = []
max_time = MAIN_PARAMS["Max_time"]
for t in range(max_time):
new_z = []
new_h = []
q_out = [0]
for i, controller in enumerate(controllers):
new_z_ = controller.get_z(h[-1][i])
new_z.append(new_z_)
new_h_, q_out_ = environment.get_next_state(
z[-1][i], i, t, q_out[i])
new_h.append(new_h_)
q_out.append(q_out_)
z.append(new_z)
h.append(new_h)
# new_reward = environment.get_reward(h[-1])
# reward.append(new_reward)
new_d = []
for i, TANK_DIST in enumerate(TANK_DIST_LIST):
if TANK_DIST["add"]:
new_d_ = environment.model[i].dist.flow[t]
new_d.append(new_d_ + q_out[i])
else:
new_d.append(q_out[i])
d.append(new_d)
if environment.show_rendering:
environment.render(z[-1])
if keyboard.is_pressed("ctrl+x"):
break
colors = [
"peru",
"firebrick",
"darkslategray",
"darkviolet",
"mediumseagreen",
"darkcyan",
]
for i in range(2):
_, (ax1, ax2, ax3) = plt.subplots(3, sharex=False, sharey=False)
h = np.array(h)
d = np.array(d)
z = np.array(z)
ax1.plot(
h[:-1, 0 + i * 3],
color=colors[0 + i * 3],
label="Tank {}".format(str(1 + i * 3)),
)
ax1.plot(
h[:-1, 1 + i * 3],
color=colors[1 + i * 3],
label="Tank {}".format(str(2 + i * 3)),
)
ax1.plot(
h[:-1, 2 + i * 3],
color=colors[2 + i * 3],
label="Tank {}".format(str(3 + i * 3)),
)
ax1.set_ylabel("Level")
ax1.legend(loc="upper right")
ax1.set_ylim(0, 10)
ax2.plot(
z[1:, 0 + i * 3],
color=colors[0 + i * 3],
label="Tank {}".format(str(1 + i * 3)),
)
ax2.plot(
z[1:, 1 + i * 3],
color=colors[1 + i * 3],
label="Tank {}".format(str(2 + i * 3)),
)
ax2.plot(
z[1:, 2 + i * 3],
color=colors[2 + i * 3],
label="Tank {}".format(str(3 + i * 3)),
)
ax2.set_ylabel("Valve")
ax2.legend(loc="upper right")
ax2.set_ylim(0, 1.01)
ax3.plot(
d[:-1, 0 + i * 3],
color=colors[0 + i * 3],
label="Tank {}".format(str(1 + i * 3)),
)
ax3.plot(
d[:-1, 1 + i * 3],
color=colors[1 + i * 3],
label="Tank {}".format(str(2 + i * 3)),
)
ax3.plot(
d[:-1, 2 + i * 3],
color=colors[2 + i * 3],
label="Tank {}".format(str(3 + i * 3)),
)
ax3.set_ylabel("Disturbance")
ax3.legend(loc="upper right")
plt.tight_layout()
plt.xlabel("Time")
plt.show()
return np.sum(reward)
def main():
# ============= Initialize variables and objects ===========#
environment = Environment(TANK_PARAMS, TANK_DIST, MAIN_PARAMS)
agent = Agent(AGENT_PARAMS)
z = []
h = []
d = []
# ================= Running episodes =================#
state, episode_reward = environment.reset()
h_ = np.array([state[0][0][0], state[0][1][0]])
h.append(h_)
for t in range(MAIN_PARAMS["MAX_TIME"]):
action = agent.act(state[-1]) # get action choice from state
z_ = agent.action_choices[
action] # convert action choice into valve position
z.append(np.array(z_))
terminated, next_state = environment.get_next_state(
z[-1], state[-1], t) # Calculate next state with action
reward = get_reward(
next_state, terminated) # get reward from transition to next state
# Store data
episode_reward.append(reward)
state.append(next_state)
h_ = []
d_ = []
for i in range(agent.n_tanks):
d_.append(environment.tanks[i].dist.flow[t] + environment.q_inn[i])
h_.append(np.array(next_state[i][0]))
d.append(d_)
h.append(h_)
if environment.show_rendering:
environment.render(z[-1])
if True in terminated:
break
if keyboard.is_pressed("ctrl+x"):
break
if not environment.running:
break
print(np.sum(episode_reward))
_, (ax1, ax2, ax3) = plt.subplots(3, sharex=False, sharey=False)
d = np.array(d)
h = np.array(h[:-1])
z = np.array(z)
h *= 10
ax1.plot(h[:-1, 0], color="peru", label="Tank 1")
ax1.plot(h[:-1, 1], color="firebrick", label="Tank 2")
ax1.set_ylabel("Level")
ax1.legend(loc="upper right")
ax1.set_ylim(0, 10)
ax2.plot(z[1:, 0], color="peru", label="Tank 1")
ax2.plot(z[1:, 1], color="firebrick", label="Tank 2")
ax2.legend(loc="upper right")
ax2.set_ylabel("Valve")
ax2.set_ylim(0, 1.01)
ax3.plot(d[:, 0], color="peru", label="Tank 1")
ax3.plot(d[:, 1], color="firebrick", label="Tank 2")
ax3.set_ylabel("Disturbance")
ax3.legend(loc="upper right")
# plt.legend([l1, l2, l3], ["Tank height", "Valve position", "Disturbance"])
plt.tight_layout()
plt.xlabel("Time")
plt.show()
def main():
# ============= Initialize variables and objects ===========#
environment = Environment(TANK_PARAMS, TANK_DIST, MAIN_PARAMS)
agent = Agent(AGENT_PARAMS)
z = []
h = []
d = []
# ================= Running episodes =================#
state, episode_reward = environment.reset()
h_ = np.array([state[0][i][0] for i in range(6)])
h.append(h_)
for t in range(MAIN_PARAMS["MAX_TIME"]):
action = agent.act(state[-1]) # get action choice from state
z_ = agent.action_choices[
action] # convert action choice into valve position
z.append(np.array(z_))
terminated, next_state = environment.get_next_state(
z[-1], state[-1], t) # Calculate next state with action
reward = sum_rewards(
next_state, terminated,
get_reward) # get reward from transition to next state
# Store data
episode_reward.append(reward)
state.append(next_state)
h_ = []
d_ = []
for i in range(agent.n_tanks):
d_.append(environment.tanks[i].dist.flow[t - 1] +
environment.q_inn[i])
h_.append(np.array(next_state[i][0]))
d.append(d_)
h.append(h_)
if environment.show_rendering:
environment.render(z[-1])
if True in terminated:
break
if not environment.running:
break
colors = [
"peru",
"firebrick",
"darkslategray",
"darkviolet",
"mediumseagreen",
"darkcyan",
]
print(f"reward: {np.sum(episode_reward)}")
h = np.array(h) * 10
d = np.array(d)
z = np.array(z)
for i in range(2):
_, (ax1, ax2, ax3) = plt.subplots(3, sharex=False, sharey=False)
ax1.plot(
h[1:-1, 0 + i * 3],
color=colors[0 + i * 3],
label="Tank {}".format(str(1 + i * 3)),
)
ax1.plot(
h[1:-1, 1 + i * 3],
color=colors[1 + i * 3],
label="Tank {}".format(str(2 + i * 3)),
)
ax1.plot(
h[1:-1, 2 + i * 3],
color=colors[2 + i * 3],
label="Tank {}".format(str(3 + i * 3)),
)
ax1.set_ylabel("Level")
ax1.legend(loc="upper left")
ax1.set_ylim(2.5, 7.5)
ax2.plot(
z[1:, 0 + i * 3],
color=colors[0 + i * 3],
label="Tank {}".format(str(1 + i * 3)),
)
ax2.plot(
z[1:, 1 + i * 3],
color=colors[1 + i * 3],
label="Tank {}".format(str(2 + i * 3)),
)
ax2.plot(
z[1:, 2 + i * 3],
color=colors[2 + i * 3],
label="Tank {}".format(str(3 + i * 3)),
)
ax2.set_ylabel("Valve")
ax2.legend(loc="upper left")
ax2.set_ylim(-0.01, 1.01)
ax3.plot(
d[1:-1, 0 + i * 3],
color=colors[0 + i * 3],
label="Tank {}".format(str(1 + i * 3)),
)
ax3.plot(
d[1:-1, 1 + i * 3],
color=colors[1 + i * 3],
label="Tank {}".format(str(2 + i * 3)),
)
ax3.plot(
d[1:-1, 2 + i * 3],
color=colors[2 + i * 3],
label="Tank {}".format(str(3 + i * 3)),
)
ax3.set_ylabel("Disturbance")
ax3.legend(loc="upper left")
ax3.set_ylim(-0.01, 4)
plt.tight_layout()
plt.xlabel("Time")
plt.show()
def main(tau_c_tuning=30, tuning_number=None, plot=True):
environment = Environment(TANK_PARAMS_LIST, TANK_DIST_LIST, MAIN_PARAMS)
controllers = []
for i, AGENT_PARAMS in enumerate(AGENT_PARAMS_LIST):
controller = P_controller(environment, AGENT_PARAMS, i)
controllers.append(controller)
if tuning_number is not None:
controllers[tuning_number].evalv_kc(tau_c_tuning)
init_h = []
for tank in environment.tanks:
init_h.append(tank.level)
init_z = []
for AGENT_PARAMS in AGENT_PARAMS_LIST:
init_z.append(AGENT_PARAMS["INIT_POSITION"])
init_d = []
for TANK_DIST in TANK_DIST_LIST:
init_d.append(TANK_DIST["nom_flow"])
h = [init_h]
z = [init_z]
d = [init_d]
max_time = MAIN_PARAMS["MAX_TIME"]
episode_reward = []
for t in range(max_time):
new_z = []
new_h = []
q_out = [0]
for i, controller in enumerate(controllers):
new_z_ = controller.get_z(h[-1][i])
new_z.append(new_z_)
new_h_, q_out_ = environment.get_next_state(
z[-1][i], i, t, q_out[i]
)
new_h.append(new_h_)
q_out.append(q_out_)
z.append(new_z)
h.append(new_h)
new_d = []
for i, TANK_DIST in enumerate(TANK_DIST_LIST):
if TANK_DIST["add"]:
new_d_ = environment.tanks[i].dist.flow[t]
new_d.append(new_d_ + q_out[i])
else:
new_d.append(q_out[i])
d.append(new_d)
reward = sum_rewards(
new_h, [False], get_reward
) # get reward from transition to next state
episode_reward.append(reward)
if environment.show_rendering:
environment.render(z[-1])
if plot:
print(f"Reward: {np.sum(episode_reward)}")
_, (ax1, ax2, ax3) = plt.subplots(3, sharex=False, sharey=False)
h = np.array(h)
d = np.array(d)
z = np.array(z)
ax1.plot(h[:-1, 0], color="peru", label="Tank 1")
ax1.set_ylabel("Level")
ax1.legend(loc="upper left")
ax1.set_ylim(2.5, 7.5)
ax2.plot(z[1:, 0], color="peru", label="Tank 1")
ax2.legend(loc="upper left")
ax2.set_ylabel("Valve")
ax2.set_ylim(-0.01, 1.01)
ax3.plot(d[2:, 0], color="peru", label="Tank 1")
ax3.set_ylabel("Disturbance")
ax3.legend(loc="upper left")
ax3.set_ylim(0, 4)
plt.tight_layout()
plt.xlabel("Time")
plt.show()
episode_reward = np.array(episode_reward)
return np.sum(episode_reward[:, tuning_number])
def main():
# ============= Initialize variables and objects ===========#
max_mean_reward = MAIN_PARAMS["MAX_MEAN_REWARD"]
environment = Environment(TANK_PARAMS, TANK_DIST, MAIN_PARAMS)
agent = Agent(AGENT_PARAMS)
mean_episode = MAIN_PARAMS["MEAN_EPISODE"]
episodes = MAIN_PARAMS["EPISODES"]
all_rewards = []
all_mean_rewards = []
t_mean = []
# ================= Running episodes =================#
try:
for e in range(episodes):
states, episode_reward = environment.reset() # Reset level in tank
for t in range(MAIN_PARAMS["MAX_TIME"]):
z = agent.act(states[-1]) # get action choice from state
terminated, next_state = environment.get_next_state(
z, states[-1], t)
states.append(next_state)
rewards = sum_rewards(next_state, terminated, get_reward)
rewards.append(np.sum(rewards))
episode_reward.append(rewards)
agent.remember(states, rewards, terminated, t)
if environment.show_rendering:
environment.render(z)
if True in terminated:
break
# Collect summary of episode
episode_reward = np.array(episode_reward)
episode_total_reward = []
t_mean.append(t)
for i in range(environment.n_tanks + 1):
episode_total_reward.append(sum(episode_reward[:, i]))
all_rewards.append(episode_total_reward)
# Print mean reward and save better models
if e % mean_episode == 0 and e != 0:
mean_reward = np.array(all_rewards[-mean_episode:])
mean_r = []
t_mean = int(np.mean(t_mean))
for i in range(environment.n_tanks + 1):
mean_r.append(np.mean(mean_reward[:, i]))
all_mean_rewards.append(mean_r)
print(
f"Mean {mean_episode} of {e}/{episodes} episodes ### timestep {t_mean+1} ### tot reward: {mean_r[-1]}"
)
t_mean = []
if mean_r[-1] >= max_mean_reward:
agent.save_trained_model()
max_mean_reward = mean_r[-1]
agent.PolicyGradientReplay(e)
if not environment.running:
break
except KeyboardInterrupt:
pass
print("Memory length: {}".format(len(agent.memory)))
print("##### {} EPISODES DONE #####".format(e + 1))
print("Max rewards for all episodes: {}".format(np.max(all_rewards)))
all_mean_rewards = np.array(all_mean_rewards)
plt.plot(all_mean_rewards[:, -1], label="Total rewards")
plt.ylabel("Mean rewards of last {} episodes".format(mean_episode))
plt.legend()
plt.show()
def main(kc=0.16):
environment = Environment(TANK_PARAMS_LIST, TANK_DIST_LIST, MAIN_PARAMS)
controllers = []
for i, AGENT_PARAMS in enumerate(AGENT_PARAMS_LIST):
if i == 1:
controller = P_controller(environment, AGENT_PARAMS, i, kc)
else:
controller = P_controller(environment, AGENT_PARAMS, i, kc=0.16)
controllers.append(controller)
init_h = []
for TANK_PARAMS in TANK_PARAMS_LIST:
level = TANK_PARAMS["init_level"] * TANK_PARAMS["height"]
init_h.append(level)
init_z = []
for AGENT_PARAMS in AGENT_PARAMS_LIST:
init_z.append(AGENT_PARAMS["INIT_POSITION"])
init_d = []
for TANK_DIST in TANK_DIST_LIST:
init_d.append(TANK_DIST["nom_flow"])
h = [init_h]
z = [init_z]
d = [init_d]
max_time = MAIN_PARAMS["Max_time"]
for t in range(max_time):
new_z = []
new_h = []
q_out = [0]
for i, controller in enumerate(controllers):
new_z_ = controller.get_z(h[-1][i])
new_z.append(new_z_)
new_h_, q_out_ = environment.get_next_state(
z[-1][i], i, t, q_out[i])
new_h.append(new_h_)
q_out.append(q_out_)
z.append(new_z)
h.append(new_h)
# new_reward = environment.get_reward(h[-1])
# reward.append(new_reward)
new_d = []
for i, TANK_DIST in enumerate(TANK_DIST_LIST):
if TANK_DIST["add"]:
new_d_ = environment.model[i].dist.flow[t]
new_d.append(new_d_ + q_out[i])
else:
new_d.append(q_out[i])
d.append(new_d)
if environment.show_rendering:
environment.render(z[-1])
if keyboard.is_pressed("ctrl+x"):
break
_, (ax1, ax2, ax3) = plt.subplots(3, sharex=False, sharey=False)
h = np.array(h)
d = np.array(d)
z = np.array(z)
ax1.plot(h[:-1, 0], color="peru", label="Tank 1")
ax1.plot(h[:-1, 1], color="firebrick", label="Tank 2")
ax1.set_ylabel("Level")
ax1.legend(loc="upper right")
ax1.set_ylim(0, 10)
ax2.plot(z[1:, 1], color="peru", label="Tank 1")
ax2.plot(z[1:, 0], color="firebrick", label="Tank 2")
ax2.legend(loc="upper right")
ax2.set_ylabel("Valve")
ax2.set_ylim(-0.01, 1.01)
ax3.plot(d[:-1, 0], color="peru", label="Tank 1")
ax3.plot(d[:-1, 1], color="firebrick", label="Tank 2")
ax3.set_ylabel("Disturbance")
ax3.legend(loc="upper right")
# plt.legend([l1, l2, l3], ["Tank height", "Valve position", "Disturbance"])
plt.tight_layout()
plt.xlabel("Time")
plt.show()
return h