Add PID and ADRC algorithm

[Zoupers]

Feature description

Add PID and ADRC algorithm, they belong to control algorithm.

[oxBinaryBrain]

assign this to me, i'll start working on it

[Zoupers]

It seems #12643 has done part of it.

[div-dev123]

I have create a PR for this issue!

[salahudinkhan321]

Hey! I'm interested in contributing. Is the PID part of this issue still available to work on?