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Improved default time vector and handling for time response functions step, impulse, and initial  (#420)

* fixed default response time for time response of discrete-time functions step, impulse, and initial

* to pass tests, added convenient ability to specify simulation time and number of steps rather than complete time vector in timeresponse functions

* eliminated deprecation warnings by importing certain functions from numpy instead of scipy

* eliminated deprecation warnings by importing certain functions from numpy instead of scipy

* small fix to pass unit tests

* adjusted sisotool test so tests pass with new default step response time window

* added functionality to automatically choose dt in timeresp.py based on system poles. and unit tests.

* removed some leftover code and comments

* explanation in docstrings for how time vector T is auto-computed in time response functions

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