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initial release of I/O systems module (#301)

This PR introduces a new module for representing (nonlinear) input/output systems and support for simulation, linearization, and composition. The following features are supported:

* Input/output systems can be created using the LinearIOSystem and NonlinearIOSystem classes, and I/O systems can be simulated in continuous and discrete time using the input_output_response() function, which is equivalent to the forced_response() function for LTI system.

* Input/output systems can be composed using the existing series, parallel, and feedback functions, as well as using the * and + operators. In addition, the InterconnectedSystem class can be used to interconnect a collection of I/O subsystems, with functionality similar to the connect function in MATLAB.

* Input/output systems and input/output signals can be named and Interconnections between I/O systems can be specified using system and signal names.

* Input/output systems can be linearized about an equilibrium point using the linearize() function, which returns a LinearIOSystem object. The LinearIOSystem is derived from the StateSpace class, allowing all operations on linear systems to be applied to the linearized system. The find_eqpt() function can be used to find an equilibrium point for an input/output system.

Documentation and examples are included to illustrate the use of the iosys module.

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