A system for controlling pets utilizes a low power transmitter to create avoidance zones in which one pet wearing an animal control receiver can enter but in which a second pet is deterred from entering. A preferred output torque to an output member is determined that is achievable within the motor torque constraints and is achievable within a range for a first torque input and is achievable within a range for a second torque input and is based upon the battery power constraints. Pressure transducers mounted on each vessel provide a signal output which is electrically connected to a digital numeric display located on the control panel so that the pressure of each vessel can be monitored.