Periodic autoregressive conditional duration

We propose an autoregressive conditional duration (ACD) model with periodic time-varying parameters and multiplicative error form. We name this model periodic autoregressive conditional duration (PACD). First, we study the stability properties and the moment structures of it. Second, we estimate the model parameters, using (profile and two-stage) Gamma quasi-maximum likelihood estimates (QMLEs), the asymptotic properties of which are examined under general regularity conditions. Our estimation method encompasses the exponential QMLE, as a particular case. The proposed methodology is illustrated with simulated data and two empirical applications on forecasting Bitcoin trading volume and realized volatility. We found that the PACD produces better in-sample and out-of-sample forecasts than the standard ACD.     

Asymptotic Properties of Weighted Least Squares Estimation in Weak PARMA Models

The aim of this work is to investigate the asymptotic properties of weighted least squares (WLS) estimation for causal and invertible periodic autoregressive moving average (PARMA) models with uncorrelated but dependent errors. Under mild assumptions, it is shown that the WLS estimators of PARMA models are strongly consistent and asymptotically normal. It extends Thm 3.1 of Basawa and Lund (2001) on least squares estimation of PARMA models with independent errors. It is seen that the asymptotic covariance matrix of the WLS estimators obtained under dependent errors is generally different from that obtained with independent errors. The impact can be dramatic on the standard inference methods based on independent errors when the latter are dependent. Examples and simulation results illustrate the practical relevance of our findings. An application to financial data is also presented.     

Parameter Estimation for Periodically Stationary Time Series

Abstract. The innovations algorithm can be used to obtain parameter estimates for periodically stationary time series models. In this paper, we compute the asymptotic distribution for these estimates in the case, where the innovations have a finite fourth moment. These asymptotic results are useful to determine which model parameters are significant. In the process, we also develop asymptotics for the Yule–Walker estimates.     

Tests Based on Simplicial Depth for AR(1) Models With Explosion

We propose outlier a robust and distribution‐free test for the explosive AR(1) model with intercept based on simplicial depth. In this model, simplicial depth reduces to counting the cases where three residuals have alternating signs. The asymptotic distribution of the test statistic is given by a specific Gaussian process. Conditions for the consistency are given, and the power of the test at finite samples is compared with alternative tests. The new test outperforms these tests in the case of skewed errors and outliers. Finally, we apply the method to crack growth data and compare the results with an OLS approach.     

Optimal Detection of Exponential Component in Autoregressive Models

Abstract. In this article, the problem of detecting the eventual existence of an exponential component in an AR(1) model, that is, the problem of testing ordinary AR(1) dependence against the alternative of an exponential autoregression [EXPAR(1)] model, was considered. A local asymptotic normality property was established for EXPAR(1) models in the vicinity of AR(1) ones. Two problems arose in this context, which were quite typical in the study of nonlinear time‐series models. The first was a problem of parameter identification in the EXPAR(1) model. A special parameterization was developed so as to overcome this technical problem. The second problem was related to the fact that the underlying innovation density had to be treated as a nuisance. The problem at hand, indeed, appeared to be nonadaptive. These problems were solved using semi‐parametrically efficient pseudo‐Gaussian methods (which did not require Gaussian observations).     

Least tail‐trimmed squares for infinite variance autoregressions

We develop a robust least squares estimator for autoregressions with possibly heavy tailed errors. Robustness to heavy tails is ensured by negligibly trimming the squared error according to extreme values of the error and regressors. Tail‐trimming ensures asymptotic normality and super‐‐convergence with a rate comparable to the highest achieved amongst M‐estimators for stationary data. Moreover, tail‐trimming ensures robustness to heavy tails in both small and large samples. By comparison, existing robust estimators are not as robust in small samples, have a slower rate of convergence when the variance is infinite, or are not asymptotically normal. We present a consistent estimator of the covariance matrix and treat classic inference without knowledge of the rate of convergence. A simulation study demonstrates the sharpness and approximate normality of the estimator, and we apply the estimator to financial returns data. Finally, tail‐trimming can be easily extended beyond least squares estimation for a linear stationary AR model. We discuss extensions to quasi‐maximum likelihood for GARCH, weighted least squares for a possibly non‐stationary random coefficient autoregression, and empirical likelihood for robust confidence region estimation, in each case for models with possibly heavy tailed errors.     

Computer Algebra Derivation of the Bias of Linear Estimators of Autoregressive Models

Abstract. A symbolic method which can be used to obtain the asymptotic bias and variance coefficients to order O(1/n) for estimators in stationary time series is discussed. Using this method, the large‐sample bias of the Burg estimator in the AR(p) for p = 1, 2, 3 is shown to be equal to that of the least squares estimators in both the known and unknown mean cases. Previous researchers have only been able to obtain simulation results for the Burg estimator's bias because this problem is too intractable without using computer algebra. The asymptotic bias coefficient to O(1/n) of Yule–Walker as well as least squares estimates is also derived in AR(3) models. Our asymptotic results show that for the AR(3), just as in the AR(2), the Yule–Walker estimates have a large bias when the parameters are near the nonstationary boundary. The least squares and Burg estimates are much better in this situation. Simulation results confirm our findings.     

Estimation in Random Coefficient Autoregressive Models

Abstract. We propose the quasi‐maximum likelihood method to estimate the parameters of an RCA(1) process, i.e. a random coefficient autoregressive time series of order 1. The strong consistency and the asymptotic normality of the estimators are derived under optimal conditions.     

Testing for parameter stability in nonlinear autoregressive models

In this article we develop testing procedures for the detection of structural changes in nonlinear autoregressive processes. For the detection procedure, we model the regression function by a single layer feedforward neural network. We show that CUSUM‐type tests based on cumulative sums of estimated residuals, that have been intensively studied for linear regression, can be extended to this case. The limit distribution under the null hypothesis is obtained, which is needed to construct asymptotic tests. For a large class of alternatives, it is shown that the tests have asymptotic power one. In this case, we obtain a consistent change‐point estimator which is related to the test statistics. Power and size are further investigated in a small simulation study with a particular emphasis on situations where the model is misspecified, i.e. the data is not generated by a neural network but some other regression function. As illustration, an application on the Nile data set as well as S&P log‐returns is given.     

ESTIMATION OF AUTOREGRESSIVE MOVING-AVERAGE MODELS VIA HIGH-ORDER AUTOREGRESSIVE APPROXIMATIONS

Abstract. In this paper the problem of estimating autoregressive moving-average (ARMA) models is dealt with by first estimating a high-order autoregressive (AR) approximation and then using the AR estimate to form the ARMA estimate. We show how to obtain an efficient ARMA estimate by allowing the order of the AR estimate to tend to infinity as the number of observations tends to infinity. This approach is closely related to the work of Durbin. By transforming the approach into the frequency domain, we can view it as an L ²-norm model approximation of the relative error of the spectral factors. It can also be seen as replacing the periodogram estimate in the Whittle approach by a high-order AR spectral density estimate. Since L ²-norm approximation is a difficult task, we replace it by a modification of a recent model approximation technique called balanced model reduction. By an example, we show that this technique gives almost efficient ARMA estimates without the use of numerical optimization routines.     

Change‐point detection in panel data

We consider N panels and each panel is based on T observations. We are interested to test if the means of the panels remain the same during the observation period against the alternative that the means change at an unknown time. We provide tests which are derived from a likelihood argument and they are based on the adaptation of the CUSUM method to panel data. Asymptotic distributions are derived under the no change null hypothesis and the consistency of the tests are proven under the alternative. The asymptotic results are shown to work in case of small and moderate sample sizes via Monte Carlo simulations.     

Least squares estimation of ARCH models with missing observations

A least squares estimator for ARCH models in the presence of missing data is proposed. Strong consistency and asymptotic normality are derived. Monte Carlo simulation results are analysed and an application to real data of a Chilean stock index is reported.     

MODELING LONG-MEMORY PROCESSES FOR OPTIMAL LONG-RANGE PREDICTION

Abstract. We look at the implications of modeling observations from a fractionally differenced noise process using an approximating AR ( p ) model. The approximation is used because of computational difficulties in the estimation of the differencing parameter of the fractional noise model. Because the fractional noise process is long-range dependent, we assess the applicability of the approximating autoregressive (AR) model based on its long-range forecasting accuracy compared with that of the fractional noise model. We derive the asymptotic k -step-ahead prediction error for a fractional noise process modeled as an AR( p ) process and compare it with the k -step-ahead prediction error obtained when the model for the observed series is correctly specified as a fractional noise process and the fractional differencing parameter d is either known or estimated. We also assess the validity of the asymptotic results for a finite sample size via simulation. We see that AR models can be useful for long-range forecasting of long-memory data, provided that consideration is given to the forecast horizon when choosing an approximating model.     

ESTIMATION OF MULTIVARIATE TIME SERIES

Abstract. The algorithm proposed here is a multivariate generalization of a procedure discussed by Pearlman (1980) for calculating the exact likelihood of a univariate ARMA model. Ansley and Kohn (1983) have shown how the Kalman filter can be used to calculate the exact likelihood function when not all the observations are known. In Shea (1983) it is shown that this algorithm is much quicker than that of Ansley and Kohn (1983) for all ARMA models except an ARMA (2, 1) and a couple of low-order AR processes and therefore when we have no missing observations this algorithm should be used instead. The Fortran subroutine G13DCF in the NAG (1987) Library fits a vector ARMA model using an adaptation of this algorithm. Experience in the use of this routine suggests that having reasonably good initial estimates of the ARMA parameter matrices, and in particular the residual error covariance matrix, can not only substantially reduce the computing time but more important improve the convergence properties of the minimization procedure. We therefore propose a method of calculating initial estimates of the ARMA parameters which involves using a generalization of the concept of inverse cross covariances from the univariate to the multivariate case. Finally theory is put into practice with the fitting of a bivariate model to a couple of real-life time series.     

Akaike’s information criterion correction for the least‐squares autoregressive spectral estimator

In this article we propose a new correction for the penalty term of the Akaike’s information criterion (AIC), when it is used in the context of order selection for an autoregressive fit of the spectral density of a stationary time series. The classical AIC penalty term may be viewed as an approximation of an appropriate target quantity. Simulations show that the quality of this approximation strongly depends on the type of autoregressive estimator used, as well as on the discrepancy used. Therefore here we consider the least squares autoregressive estimator and the Whittle discrepancy only. In this context we propose a closed formula correction of the AIC penalty term. We also develop asymptotic theory which justifies this proposal: an asymptotically valid second‐order expansion of a stochastic approximation of the target quantity. This expansion assumes a non‐parametric framework: it does not assume gaussianity of the process and only requires its spectral density to be smooth enough. Simulations show that, as compared to previously introduced corrections, this new correction performs similarly to finite sample information criterion, while they both outperform AIC corrected and AIC.     

SIGNIFICANT VARIABLE SELECTION AND AUTOREGRESSIVE ORDER DETERMINATION FOR TIME‐SERIES PARTIALLY LINEAR MODELS

This paper is concerned with the regression coefficient and autoregressive order shrinkage and selection via the smoothly clipped absolute deviation (SCAD) penalty for a partially linear model with time‐series errors. By combining the profile semi‐parametric least squares method and SCAD penalty technique, a new penalized estimation for the regression and autoregressive parameters in the model is proposed. We show that the asymptotic property of the resultant estimator is the same as if the order of autoregressive error structure and non‐zero regression coefficients are known in advance, thus achieving the oracle property in the sense of Fan and Li (2001). In addition, based on a prewhitening technique, we construct a two‐stage local linear estimator (TSLLE) for the non‐parametric component. It is shown that the TSLLE is more asymtotically efficient than the one that ignores the autoregressive time‐series error structure. Some simulation studies are conducted to illustrate the finite sample performance of the proposed procedure. An example of application on electricity usage data is also illustrated. Copyright © 2014 Wiley Publishing Ltd     

Risk-efficient sequential estimation of multivariate random coefficient autoregressive process

A vector-valued autoregressive time series model is considered. The autoregressive coefficients of the model are random with possible dependencies among them. Estimation of the large number of parameters in such models becomes costly with an increase in dimension. A sequential procedure is proposed that promises a significant gain in the sample size thus reduction in the cost of implementation. The procedure is also risk efficient in the sense that as the cost of sampling becomes negligible the asymptotic predictive risk of the proposed procedure reaches the oracle predictive risk corresponding to the best fixed sample size procedure that assumes the values of the nuisance parameters to be known. Extensive simulation results are presented to illustrate the properties of the proposed procedure in a finite sample.     

A NOTE ON ASYMPTOTIC INFERENCE IN AUTOREGRESSIVE MODELS WITH ROOTS ON THE UNIT CIRCLE

Abstract. An estimation and inference procedure is proposed for parameters of the p th order autoregressive model with roots both on the unit circle and outside the unit circle. The procedure is motivated by the fact that the parameter estimates of the nonstationary part of the model have higher order consistency properties than the parameter estimates of the stationary part. The procedure allows the use of the known asymptotic distributional results of purely nonstationary models and purely stationary models. Only ordinary least squares routines are needed.     

A State space approach to bootstrapping conditional forecasts in arma models

A bootstrap approach to evaluating conditional forecast errors in ARMA models is presented. The key to this method is the derivation of a reverse-time state space model for generating conditional data sets that capture the salient stochastic properties of the observed data series. We demonstrate the utility of the method using several simulation experiments for the MA( q ) and ARMA( p, q ) models. Using the state space form, we are able to investigate conditional forecast errors in these models quite easily whereas the existing literature has only addressed conditional forecast error assessment in the pure AR( p ) form. Our experiments use short data sets and non-Gaussian, as well as Gaussian, disturbances. The bootstrap is found to provide useful information on error distributions in all cases and serves as a broadly applicable alternative to the asymptotic Gaussian theory.