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Replace bilinear_zpk with the scipy implementation

Duncan Macleod requested to merge github/fork/asouthgate/dev-bilinear-scipy into main

Created by: asouthgate

Added an extra test to make sure complex filter dtypes are preserved

Addresses https://github.com/gwpy/gwpy/issues/1630

Using scipy's implementation we also avoid problems with old implementation casting to float as in https://github.com/gwpy/gwpy/issues/1630#issuecomment-1721674653

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