controllers → multibody Relation

File in drake/systems/controllers	Includes file in drake/multibody
inverse_dynamics.h	plant / multibody_plant.h
inverse_dynamics_controller.h	plant / multibody_plant.h
joint_stiffness_controller.h	plant / multibody_plant.h
test_utilities / compute_torque.h	plant / multibody_plant.h