cgroup: add documentation about unified hierarchy

Unified hierarchy will be the new version of cgroup interface.  This
patch adds Documentation/cgroups/unified-hierarchy.txt which describes
the design and rationales of unified hierarchy.

v2: Grammatical updates as per Randy Dunlap's review.
Signed-off-by: Tejun Heo <tj@kernel.org>
Cc: Randy Dunlap <rdunlap@infradead.org>