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Small fixes to correct for wrong actions on power control over a real
load.

Change the PowerActuator to be able to lower the power limit. Because
RAPL doesn't provide an actual lower limit, we use 0 as the minimal
power.

This patch adds a poweractuator based on rapl settings available through
the sensor manager. Adding this actuator forces us to use a list of
actuators in the controller, changing a bit the structure of the code.

This patch introduce one more level of abstraction to the controller:
an actuator. Actuators will act as the middleman between specific
managers and the controller, while providing enough info to implement
actual models on top.

For now, we only have the application threads actuator.

The "control" part of the NRM is bound to change and become more complex
in the near future, so move it in its own module.

This refactor also introduce some controller logic. Control is split
into 3 steps: planning, execution and updates. The goal is to use this
new code organization as a way to abstract different control policies
that could be implemented later.

Note that we might at some point move into a "control manager" and a
bunch of "policies" and "actuators", as a way of matching typical
control theory vocabulary.