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.