Add support for a simple stiff solver similar to `SimpleColloc` in `SeeToDee.jl`

[franckgaga]

The support for a simple stiff solver would be useful and easier to interface than calling solver from OrdinaryDiffEq.jl. I would implement something very similar to SimpleColloc.

xref : https://discourse.julialang.org/t/how-fast-does-a-model-has-to-be-for-nmpc/120694/52

[franckgaga]

Will implement the direct collocation transcription first, see #164