Improve error handling for misconfigured instances

## Expected Behavior
While developing new rules, as plugin for example, it might be wise to have some improved error handling. As you can [see here](https://github.com/conventional-changelog/commitlint/pull/588#issuecomment-544247819), the current error is a syntax error without additional info on what or where it went wrong.

I think this could also benefit other use cases like misconfigured rule settings or config in general. ESLint has some good examples for us to look at, like this one for example.

```
.eslintrc.js:
Configuration for rule "semi" is invalid:
Severity should be one of the following: 0 = off, 1 = warn, 2 = error (you passed '"wrong level"').
```

> It's a rule with the wrong severity level, clearly indicating what is wrong and how to fix it.

## ~~Current Behavior~~

## Affected packages
* [X] cli
* [x] core
* [ ] prompt
* [ ] config-angular

## ~~Possible Solution~~

## ~~Steps to Reproduce (for bugs)~~

## ~~Context~~

## ~~Your Environment~~