Adaptive MIRK BVP solvers

Boundary value problems (BVPs) are mathematical models that arise in a variety of fields, such as economics and chemistry. BVPs are essentially ordinary differential equations (ODEs), but with additional constraints. The current implementation of MIRK solvers in BoundaryValueDiffEq.jl does not support defect control and mesh uniform refinement, which really hindered its application. To address this limitation, the goal of this project is to implement defect control for MIRK (Monotonic Implicit Runge-Kutta) solvers and to add mesh uniform refinement to BoundaryValueDiffEq.jl, thus enhancing the capabilities of SciML's differential equations solvers in solving BVPs。