Fixes: #2724, #3508

Summary/Motivation:

This PR provides updates to PyROS uncertainty set validation methods and related tests.
Here, a validate method replaces the is_valid method (which solves 2N bounding problems to check for set boundedness) in all uncertainty sets, with each set having its own custom validate method that efficiently checks set-specific attributes and raises informative exceptions if any issues are found.

Changes proposed in this PR:

• Update is_bounded and is_nonempty methods in base UncertaintySet class
• Provide a _solve_feasibility method in base UncertaintySet class
• Replace is_valid with validate method that runs is_bounded and is_nonempty in the base UncertaintySet class
• Override validate in subclass uncertainty sets to check set-specific attributes
• Remove attribute setter checks in uncertainty sets that have been moved to the validate method
• Update unit tests for is_bounded, is_nonempty, _solve_feasibility, and validate methods

TODO

• Add FBBT for _compute_parameter_bounds
• Add validate_array to all validate methods
• Split test_validate tests into separate tests for each validation check
• Delete _validate method for PolyhedralSet
• Update error messages to clearly indicate issues specific to uncertainty set setup
• Check uncertainty set documentation looks good and test fix for Invalid doctest in PyROS - unclear what behavior should be #3508
• Update version number and changelog (after Update the PyROS Separation Priority Ordering Interface #3581 merged)

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