Guides on how to use the regulators?

I am very new to regulators and controllers in general. It would be helpful if there were some information on how the provided controllers could be applied to specific use-cases.

In my specific use-case I'm trying to replace a system that uses two PID controllers with a single LQR (or other) controller. There are two variables that can be adjusted, but they both affect a single observable variable that I want to be a set value. In my understanding I'm looking for a MISO (multi input single output) controller. Is this possible to achieve with any of the controllers in this repo or are they only SIMO?

I especially enjoyed this repo since it only uses numpy (and scipy.linalg which I could replace with numpy.linalg).