Add some automated model predictive current control to GEM-Control

[bhk11]

Add some basic model predictive control to GEM-Control to have some further state-of-the-art method included.
In a first step only the current control should be addressed.

[bhk11]

First implementation for finite control set is done. Open point would be:

• a solution for continuous control set
• fixing a issue that the current controller currently rise an error if it should work with superimposed torque/speed control in the gem-control framework