That's exactly the point that Archimedes got so excited about in his bath. The weight of water displaced is equal to the weight of the model, so if you want it to 'sit' right then it will have to displace 20lbs of water. Don't forget that the model itself will already weigh something, then there's the batteries to add (frequently the sealed lead-acid type) etc, so you may end up not having to add much extra "deadweight" ballast at all. If the model is too heavy for you to launch it just by leaning over from the bank and manually putting it into the water you could make a launching cradle to help you.
Dave M