[lqcontrol] style guide review and updated maths (#613)

* [lqcontrol] style guide review and updated maths

* removed text before {doc}

* Update lectures/lqcontrol.md

* FIX: doc links

* [lq control] fixed titles and headings

* [lqcontrol] updated code to NamedTuple style

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Co-authored-by: Matt McKay <mmcky@users.noreply.github.com>
Co-authored-by: mmcky <mamckay@gmail.com>
Co-authored-by: John Stachurski <john.stachurski@gmail.com>
Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>

Author: 4 people