test: add case for url.parse throwing a URIError

The auth property of a URL is decoded via decodeURIComponent,
which can throw a URIError. The test URL here will trigger this.

Adds documentation on the possible errors url.parse can throw.

PR-URL: #12135
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>

doc/api/url.md

@@ -259,6 +259,10 @@ added: v0.1.25
 The `url.parse()` method takes a URL string, parses it, and returns a URL
 object.
 
+A `TypeError` is thrown if `urlString` is not a string.
+
+A `URIError` is thrown if the `auth` property is present but cannot be decoded.
+
 ## url.resolve(from, to)
 <!-- YAML
 added: v0.1.25

test/parallel/test-url-parse-invalid-input.js

@@ -16,3 +16,5 @@ const url = require('url');
 ].forEach(function(val) {
   assert.throws(function() { url.parse(val); }, TypeError);
 });
+
+assert.throws(function() { url.parse('http://%E0%A4%A@fail'); }, /^URIError: URI malformed$/);