kbuild: doc: document the new syntax 'userprogs'

Kbuild now supports the syntax 'userprogs' to compile userspace
programs for the same architecture as the kernel.

Insert the section '5 Userspace Program support' to explain it.

I copy-pasted '4 Host Program support' and fixed it up.
Signed-off-by: Masahiro Yamada <masahiroy@kernel.org>
Acked-by: Sam Ravnborg <sam@ravnborg.org>