Adding Aule library

[matheuswhite]

Hello,

I'm doing a library for control systems called Aule. This is a part of my master degree. I made this PR to include the library as part of your project. Feels free to open issues (or send me an email) with new feature requests or with bugs found.

[sparshg]

Hi, thanks a lot for taking the time to improve the code quality and further split the Cart struct, much appreciated!
That said, I’d like to avoid adding an external dependency for math/physics, my intention with this project was to implement the PID controller and its physics from scratch, without libraries, so it remains like a minimal working example.

Your library looks great though, it seems like it could be very useful for many control systems projects.