Clean up notation around Vinnicombe metric in Ch 14 [robperf]

Issue #49 resolved
Richard Murray repo owner created an issue

The notation for the subsection on the Vinnicombe metric in Ch 14 is a bit confusing since we currently write P*(s) for P(-s), which could lead to confusion with the complex conjugate. Karl was going to think about whether there was a better notation that we could use and clean up this text.

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