Add global error control adaptivity

[ErikQQY]

Fix: #34

Basically, there are four different modes for the error control adaptivity in MIRK and FIRK methods, DefectControl, GlobalErrorControl, SequentialErrorControl(first use defect control then use global error control,) and HybridErrorControl(use the linear combination of the defect and global error).

Still very WIP

[github-actions]

Benchmark Results

	master	412a1e9...	master / 412a1e9...
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK2()	6.67 ± 0.17 ms	6.61 ± 0.18 ms	1.01
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK3()	2.54 ± 0.11 ms	2.49 ± 0.11 ms	1.02
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK4()	0.892 ± 0.05 ms	0.888 ± 0.05 ms	1
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK5()	2.45 ± 0.24 ms	2.43 ± 0.23 ms	1.01
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK6()	1.05 ± 0.097 ms	1.05 ± 0.096 ms	1
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = false)	1.93 ± 0.6 ms	1.93 ± 0.6 ms	0.999
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = true)	3.56 ± 0.87 ms	3.54 ± 0.59 ms	1.01
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.0533 ± 0.01 s	0.0531 ± 0.006 s	1
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = true)	0.0657 ± 0.014 s	0.0648 ± 0.012 s	1.01
Simple Pendulum/IIP/Shooting(Tsit5())	0.241 ± 0.073 ms	0.24 ± 0.073 ms	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK2()	0.0385 ± 0.0021 s	0.0387 ± 0.0025 s	0.996
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK3()	11.3 ± 0.45 ms	11.4 ± 0.42 ms	0.985
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK4()	3.28 ± 0.22 ms	3.3 ± 0.22 ms	0.995
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK5()	9.64 ± 0.94 ms	9.77 ± 1 ms	0.987
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK6()	3.49 ± 0.28 ms	3.52 ± 0.27 ms	0.992
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = false)	3.38 ± 2.6 ms	3.34 ± 2.6 ms	1.01
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = true)	5.96 ± 4.2 ms	5.95 ± 4.2 ms	1
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.0987 ± 0.0025 s	0.0993 ± 0.0039 s	0.993
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = true)	0.12 ± 0.0082 s	0.119 ± 0.0099 s	1
Simple Pendulum/OOP/Shooting(Tsit5())	0.601 ± 0.031 ms	0.626 ± 0.035 ms	0.96
time_to_load	5.01 ± 0.057 s	5 ± 0.13 s	1

Benchmark Plots

A plot of the benchmark results have been uploaded as an artifact to the workflow run for this PR.
Go to "Actions"->"Benchmark a pull request"->[the most recent run]->"Artifacts" (at the bottom).