Implement nonlinear controller in C++ to reduce computation time

[pavelacamposp]

The current Nonlinear Data-Driven MPC controller, implemented with CVXPY, performs slowly for complex systems. This may be due to how CVXPY builds/formulates and solves the MPC problem, and the overhead resulting from its underlying wrapping logic.

A new C++ implementation of the controller with analogous logic could be more efficient. This would enable the controller to be used for complex systems that require fast computation times.

Planned CI workflow improvements:

• Implement a C++ version of the Nonlinear Data-Driven MPC controller.
• Benchmark and optimize the computation time of the Nonlinear Data-Driven MPC controller.