Add RLS filter and clamp helper for power limit

[Bluefairy-ljy]

参考链接：https://github.com/hkustenterprize/RM2024-PowerModule/blob/main/Utils/RLS.hpp

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[Bluefairy-ljy]

参考中paramsVector += gainVector * (actualOutput - (sampleVector.trans() * paramsVector)[0][0]);
我们写的是e_ = y_ - u_; output_ = w_ + k_ * e_.transpose();
我们的误差用的 u ≠ xᵀw，相当于每步多一个污染项 k·(xᵀw − u)，这里是抄错了么 ??