Added FIRK solvers

[ParamThakkar123]

Checklist

• Appropriate tests were added
• Any code changes were done in a way that does not break public API
• All documentation related to code changes were updated
• The new code follows the
  contributor guidelines, in particular the SciML Style Guide and
  COLPRAC.
• Any new documentation only uses public API

Additional context

Add any other context about the problem here.
solves a part of #2177

[ParamThakkar123]

@ChrisRackauckas In this PR all the UnDef errors have been solved. This now has some precision and method call errors in some files

[ParamThakkar123]

I have also started a PR for DAE solvers #2292

[ParamThakkar123]

@ChrisRackauckas any changes or fixes needed on this PR ??

[ChrisRackauckas]

Tests don't pass. The PredictiveController should not have been moved. Move that back, and then the spot that does if radau should be if isfirk(alg), and then in the alg_utils you should define isfirk(alg) = false, and then in the OrdinaryDiffEqFIRK/alg_utils.jl add isfirk(alg:: radau algorithms) = true.