The Kubernetes controller manager is a core component of Kubernetes and already running in every Kubernetes cluster, usually in form of a standalone pod managed by the Kubernetes addon manager. Minikube uses localkube which integrates the controller manager together with other Kubernetes core components in a single binary to simplify setup of single-node clusters for testing purposes. If you want to change options of the integrated controller manager or other components, use the --extra-config option of minikube start.
The example you linked is a custom deployment of the controller manager used for highly available multi-master clusters. If you want to test this you need to set up your cluster manually, minikube is not the right tool for this.