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thermal_mgmt: Add derivative term for PI controller

Created by: nicola-mazzucato-arm

The current implementation of Thermal Management provides a PI controller, without a derivative term.

Improve the controller by adding the derivative term, thus becoming a PID control.

At the same time, update the TC2 configuration as required by this change.

This change originates from: and has been lightly reworked to improve readability, update unit testing and comply with coding style.

Change-Id: Ie0b667c680476714d4e6ad17afa3623ca36a56b8

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