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Improvements to time-domain filtering

Duncan Macleod requested to merge github/fork/duncanmmacleod/dev_time_domain_filtering into master

The current TimeSeries.filter time-domain filtering requires the user to give digital, Z-domain filter components. This PR implements a TimeSeries.zpk method which translates real zpk components in Hertz into S-domain then Z-domain and passes to TimeSeries.filter.

I have also included the relevant changes to documentation, and a new example for time-domain filtering.

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