Add code to check for unrecognized keywords associated with default settings

As pointed out in #526, it is possible to pass unrecognized keywords to StateSpace and not get an error message. For example:

ct.StateSpace(A, B, C, D, remove_useless=True)

(the actual keyword should be remove_useless_states).

Similarly,

ct.set_defaults('statesp', remove_useless=True)

should generate an error.

There is some code to help carry this out in PR #549 (ct.config._get_param has a new keyword last).

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