How to save control inputs?

[GlenHenshaw]

simulate doesn't natively return the control inputs calculated by the control! function. One can e.g. save what is calculated by control! when it is called into an ElasticVector or something, but given that the native integration scheme is a Runge-Kutta, this results in a vector that is 4x longer than desired, because it saves all of the intermediate step results.

Without having to rewrite simulate, is there a straightforward way to return the control inputs?