Finalized controller design, plots, generated code.

Gains are calculated at 101 rear wheel rates:

theta_R_dot = -np.logspace(-0.5, 1, 101) / w.rR

This amounts to logarithmic spacing between 0.316 and 10 m/s.

TODO: Implement linear interpolation between gains at nearest speeds.

Notes:  to evaluate controller state update, the operation count is:

A*x : 25 multiply and accumulates, 3 cycles per instruction
B*u : 15 mulitply and accumulates, 3 cycles per instruction
A*x + B*u : 5 adds, 1 cycle per instruction

75 + 45 + 5 = 125 cycles

125 cycles @ 168 MHz = 0.75 micro seconds per controller state update.

This implies we should be able to do linear interpolation in about 1.50 micro
seconds.
Updated to SS matrices from latest bicycle.model. Added controller_data.npz