Added Spring-Damper-Inertia Model for MotorModel in TorqueController

Updated motor model in TorqueController, using Spring-Damper-Inertia model. I expect this modification have no influence on other rtcs.

- Change motor model in TorqueController by Spring-Damper-Inertia model. TorqueController also can use old models. Models are descriminated by number of parameters in conf file.
- Modified torque limit calculation from model file (climit -> climit*gearRatio*torqueConst)