- Extended compatibility to CasADi 3.6.3

- Extended compatibility to Numpy 1.25.2
- Updated Bokeh maximum version in README.md
- Added CHANGELOG

Fixes #21

Fixes #16

Solved problem with multistart.

Solved bug with control horizon. Fixes issue #11

Fixed bug with NMPC box constraints.

Merge branch 'master' of https://github.com/hilo-mpc/hilo-mpc