  A new class of non-homogeneous state-affine systems is introduced for use in
reservoir computing. Sufficient conditions are identified that guarantee first,
that the associated reservoir computers with linear readouts are causal,
time-invariant, and satisfy the fading memory property and second, that a
subset of this class is universal in the category of fading memory filters with
stochastic almost surely uniformly bounded inputs. This means that any
discrete-time filter that satisfies the fading memory property with random
inputs of that type can be uniformly approximated by elements in the
non-homogeneous state-affine family.

Neural and Evolutionary Computing