Declare a ToolStripControlHost field. In the constructor of the Windows form and after InitializeComponent();, create a new ToolStripControlHost with your required controller in the argument. Then add the ToolStripControlHost to your ToolStrip Items.
It's that easy!!
private ToolStripControlHost toolStripControlHost;
public WindowsFormConstructor()
{
InitializeComponent();
toolStripControlHost = new ToolStripControlHost(dateTimePicker1);
toolStrip1.Items.Add(toolStripControlHost);
}