Use pkg-config to fix static build

Libcurl optionally links to a number of libraries that have to be taken
into consideration when linking statically.

As libcurl, libupnp and expat provides .pc files se pkg-config to get the
correct LIBS.

Also drop the check for ixml as it is an indirected dependency
propagated through libupnp.

Jörg Krause Jörg Krause 2016-09-15

changed Makefile.am
changed configure.ac
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