Add hybrid banked S3 chaos PID controller

[teerthsharma]

Summary

• Adds hybrid_banked_pid, a PID-style controller with p-adic coefficient-bank lookup and an explicit S^3 chaos marker.
• Maps controller motion into a normalized 4D state, measures geodesic jump/local curvature, and uses that marker to reshape effective tracking error plus derivative/integral damping.
• Adds compact coefficient JSON and focused regression tests for finite/clipped output, fallback behavior, derivative clutching, topology signature creation, and S^3 chaos telemetry.

Verification

• python -m pytest test_hybrid_banked_pid.py -q -> 7 passed
• python -m py_compile controllers\hybrid_banked_pid.py -> passed
• python -m json.tool controllers\hybrid_banked_pid_coeffs.json -> passed

Local score evidence

• 20 segments: hybrid_banked_pid mean total_cost 64.2840 vs padic_transformer_pid 64.3962 vs pid 72.5553
• 100 segments: hybrid_banked_pid mean total_cost 70.2198 vs padic_transformer_pid 69.8116 vs pid 80.9241