STATE-DEPENDENT MODELS: A GENERAL APPROACH TO NON-LINEAR TIME SERIES ANALYSIS

Abstract. We construct a general class of non-linear models, called 'state-dependent models', which have a very flexible non-linear structure and which contain, as special cases, bilinear, threshold autoregressive, and exponential autoregressive models. We describe a sequential type of recursive algorithm for identifying state-dependent models, and show how such models may be used for forecasting and for indicating specific types of non-linear behaviour.     

THE ESTIMATION AND PREDICTION OF SUBSET BILINEAR TIME SERIES MODELS WITH APPLICATIONS

Abstract. In this paper we define subset bilinear time series models, and then describe an algorithm for the estimation of these models. It is also pointed out that for this class of non-linear time series models, it is possible to obtain optimal several step predictors. The estimation technique of these models is illustrated with respect to three time series, and the optimal several steps ahead forecasts of these time series models are calculated. A comparison of these forecasts is made with the forecasts obtained by the best linear autoregressive and threshold autoregressive models. The residuals obtained from the models are tested for independence and Gaussianity using higher order moments.     

First-order rounded integer-valued autoregressive (RINAR(1)) process

Abstract.  We introduce a new class of autoregressive models for integer-valued time series using the rounding operator. Compared with classical INAR models based on the thinning operator, the new models have several advantages: simple innovation structure, autoregressive coefficients with arbitrary signs, possible negative values for time series and possible negative values for the autocorrelation function. Focused on the first-order RINAR(1) model, we give conditions for its ergodicity and stationarity. For parameter estimation, a least squares estimator is introduced and we prove its consistency under suitable identifiability condition. Simulation experiments as well as analysis of real data sets are carried out to attest the model performance.     

BOOTSTRAP FOR RANDOM COEFFICIENT AUTOREGRESSIVE MODELS

In this paper, we deal with autoregressive processes with random coefficients. We propose a least‐squares estimator for the fourth‐order moments of both the innovation and disturbance noises and state its consistency. The main theme of the paper is the development of bootstrap procedures for the autoregressive parameter. We show how to obtain approximative residuals for the process even though the standard method for autoregressive processes does not work in this context since one then would obtain convoluted residuals of the innovation and disturbance noises. These ideas lead to a modification of the classical residual bootstrap for autoregressive processes. The consistency of the bootstrap procedure is established. Further, the estimators proposed in the first part are used to form two wild bootstrap modifications. Finally, the performances of the three bootstrap procedures are explored by a simulation study and compared with each other.     

Tests for conditional heteroscedasticity of functional data

Functional data objects derived from high-frequency financial data often exhibit volatility clustering. Versions of functional generalized autoregressive conditionally heteroscedastic (FGARCH) models have recently been proposed to describe such data, however so far basic diagnostic tests for these models are not available. We propose two portmanteau type tests to measure conditional heteroscedasticity in the squares of asset return curves. A complete asymptotic theory is provided for each test. We also show how such tests can be adapted and applied to model residuals to evaluate adequacy, and inform order selection, of FGARCH models. Simulation results show that both tests have good size and power to detect conditional heteroscedasticity and model mis-specification in finite samples. In an application, the tests show that intra-day asset return curves exhibit conditional heteroscedasticity. This conditional heteroscedasticity cannot be explained by the magnitude of inter-daily returns alone, but it can be adequately modeled by an FGARCH(1,1) model.     

STATIONARY DISCRETE AUTOREGRESSIVE-MOVING AVERAGE TIME SERIES GENERATED BY MIXTURES

Abstract. Two simple stationary processes of discrete random variables with arbitrarily chosen first-order marginal distributions, DARMA ( p, N + 1) and NDARMA ( p, N ), are given. The correlation structure of these processes mimics that of the usual linear ARMA ( p, q ) processes. The relationship of these processes to mover-stayer models, and to models for discrete time series given separately by Lindqvist and Pegram is discussed. Ad hoc nonparametric estimators for the parameters in the DARMA ( p, N + 1) and NDARMA ( p, N ) are given. A simulation study shows them to be as good as maximum likelihood estimators for the first-order autoregressive case, and to be much simpler to compute than the maximum likelihood estimators.     

THRESHOLD TIME SERIES MODELS AS MULTIMODAL DISTRIBUTION JUMP PROCESSES

Abstract. Recent contributions by Tong and others in modelling time series exhibiting threshold points have generally been based on approximating non-linear processes by piecewise linear time series models. In this paper we provide an alternative framework in which to model time series displaying jump behaviour by using a multimodal conditional distribution to capture the jump process. Each subordinate model of the distribution is determined by an autoregressive process, and jump behaviour occurs when the relative heights of the modes of the distribution change whilst the threshold points are identified by the antimodes of the distribution. This class of models is referred to as multipredictor autoregressive time series (MATS).     

Aggregation and Disaggregation of Structural Time Series Models

The aggregation/disaggregation problem has been widely studied in the time series literature. Some main issues related to this problem are modelling, prediction and robustness to outliers. In this paper we look at the modelling problem with particular interest in the local level and local trend structural time series models together with their corresponding ARIMA(0, 1, 1) and ARIMA(0, 2, 2) representations. Given an observed time series that can be expressed by a structural or autoregressive integrated moving-average (ARIMA) model, we derive the necessary and sufficient conditions under which the aggregate and/or disaggregate series can be expressed by the same class of model. Harvey's cycle and seasonal components models (Harvey, Forecasting, Structural Time Series Models and the Kalman Filter , Cambridge: Cambridge University Press, 1989) are also briefly discussed. Systematic sampling of structural and ARIMA models is also discussed.     

On modelling and diagnostic checking of vector periodic autoregressive time series models

Abstract.  Vector periodic autoregressive time series models (PVAR) form an important class of time series for modelling data derived from climatology, hydrology, economics and electrical engineering, among others. In this article, we derive the asymptotic distributions of the least squares estimators of the model parameters in PVAR models, allowing the parameters in a given season to satisfy linear constraints. Residual autocorrelations from classical vector autoregressive and moving-average models have been found useful for checking the adequacy of a particular model. In view of this, we obtain the asymptotic distribution of the residual autocovariance matrices in the class of PVAR models, and the asymptotic distribution of the residual autocorrelation matrices is given as a corollary. Portmanteau test statistics designed for diagnosing the adequacy of PVAR models are introduced and we study their asymptotic distributions. The proposed test statistics are illustrated in a small simulation study, and an application with bivariate quarterly West German data is presented.     

Outlier Detection And Estimation In NonLinear Time Series

Abstract. The problem of identifying the time location and estimating the amplitude of outliers in nonlinear time series is addressed. A model‐based method is proposed for detecting the presence of additive or innovational outliers when the series is generated by a general nonlinear model. We use this method for identifying and estimating outliers in bilinear, self‐exciting threshold autoregressive and exponential autoregressive models. A simulation study is performed to test the proposed procedures and comparing them with the methods based on linear models and linear interpolators. Finally, our results are applied for detecting outliers in the Canadian lynx trappings and in the sunspot numbers data.     

A note on non‐parametric testing for Gaussian innovations in AR–ARCH models

In this paper, we consider autoregressive models with conditional autoregressive variance, including the case of homoscedastic AR models and the case of ARCH models. Our aim is to test the hypothesis of normality for the innovations in a completely non‐parametric way, that is, without imposing parametric assumptions on the conditional mean and volatility functions. To this end, the Cramér–von Mises test based on the empirical distribution function of non‐parametrically estimated residuals is shown to be asymptotically distribution‐free. We demonstrate its good performance for finite sample sizes in a small simulation study. AMS 2010 Classification: Primary 62 M10, Secondary 62 G10     

TIME SERIES RESIDUALS WITH APPLICATION TO PROBABILITY DENSITY ESTIMATION

Abstract. A linear stationary and invertible process y _t models the second-order properties of T observations on a discrete time series, up to finitely many unknown parameters θ. Two estimators of the residuals or innovations ɛ _t of y _t are presented, based on a θ estimator which is root- T consistent with respect to a wide class of ɛ _t distributions, such as a Gaussian estimator. One sets unobserved y _t equal to their mean, the other treats y _t as a circulant and may be best computed via two passes of the fast Fourier transform. The convergence of both estimators to ɛ _t is investigated. We apply the estimated ɛ _t to estimate the probability density function of ɛ _t . Kernel density estimators are shown to converge uniformly in probability to the true density. A new sub-class of linear time series models is motivated.     

Robust Estimation For Periodic Autoregressive Time Series

Abstract. A robust estimation procedure for periodic autoregressive (PAR) time series is introduced. The asymptotic properties and the asymptotic relative efficiency are discussed by the estimating equation approach. The performance of the robust estimators for PAR time‐series models with order one is illustrated by a simulation study. The technique is applied to a real data analysis.     

MARGINALS OF MULTIVARIATE FIRST-ORDER AUTOREGRESSIVE TIME SERIES MODELS

This paper is concerned with the marginal models associated with a given multivariate first-order autoregressive model. A general theory is developed to determine when reductions in the known orders of the marginal models will occur. When the auto-regressive coefficient matrix has repeated eigenvalues, there may be global reductions in the marginal models. Zeros in the eigenvectors and generalized eigenvectors of the auto-regressive coefficient matrix lead to local reductions in the marginal models. The case when the autoregressive parameter matrix has systematic zeros is also investigated.     

PERIODIC CORRELATION IN STRATOSPHERIC OZONE DATA

Abstract. A 50-year time series of monthly stratospheric ozone readings from Arosa, Switzerland, is analyzed. The time series exhibits the properties of a periodically correlated (PC) random sequence with annual periodicities. Spectral properties of PC random sequences are reviewed and a test to detect periodic correlation is presented. An autoregressive moving-average (ARMA) model with periodically varying coefficients (PARMA) is fitted to the data in two stages. First, a periodic autoregressive model is fitted to the data. This fit yields residuals that are stationary but non-white. Next, a stationary ARMA model is fitted to the residuals and the two models are combined to produce a larger model for the data. The combined model is shown to be a PARMA model and yields residuals that have the correlation properties of white noise.     

Distributions for residual autocovariances in parsimonious periodic vector autoregressive models with applications

The asymptotic distribution of the residual autocovariance matrices in the class of periodic vector autoregressive time series models with structured parameterization is derived. Diagnostic checking with portmanteau test statistics represents a useful application of the result. Under the assumption that the periodic white noise process of the periodic vector autoregressive time series model is composed of independent random variables, we demonstrate that the finite sample distributions of the Hosking‐Li‐McLeod portmanteau test statistics can be approximated by those of weighted sums of independent chi‐square random variables. The quantiles of the asymptotic distribution can be computed using the Imhof algorithm or other exact methods. Thus, using the (single) chi‐square distribution for these test statistics appears inadequate in general, although it is often recommended in practice for diagnostic methods of that kind. A simulation study provides empirical evidence.     

On the Optimal Segment Length for Parameter Estimates for Locally Stationary Time Series

We discuss the behaviour of parameter estimates when stationary time series models are fitted locally to non-stationary processes which have an evolutionary spectral representation. A particular example is the estimation for an autoregressive process with time-varying coefficients by local Yule–Walker estimates. The bias and the mean squared error for the parameter estimates are calculated and the optimal length of the data segment is determined.     

Time-varying autoregressions with model order uncertainty

We explore some aspects of the analysis of latent component structure in non-stationary time series based on time-varying autoregressive (TVAR) models that incorporate uncertainty on model order. Our modelling approach assumes that the AR coefficients evolve in time according to a random walk and that the model order may also change in time following a discrete random walk. In addition, we use a conjugate prior structure on the autoregressive coefficients and a discrete uniform prior on model order. Simulation from the posterior distribution of the model parameters can be obtained via standard forward filtering backward simulation algorithms. Aspects of implementation and inference on decompositions, latent structure and model order are discussed for a synthetic series and for an electroencephalogram (EEG) trace previously analysed using fixed order TVAR models.     

Multi-variate t Autoregressions: Innovations, Prediction Variances and Exact Likelihood Equations

Abstract.  The multi-variate t distribution provides a viable framework for modelling volatile time-series data; it includes the multi-variate Cauchy and normal distributions as special cases. For multi-variate t autoregressive models, we study the nature of the innovation distribution and the prediction error variance; the latter is nonconstant and satisfies a kind of generalized autoregressive conditionally heteroscedastic model. We derive the exact likelihood equations for the model parameters, they are related to the Yule–Walker equations and involve simple functions of the data, the model parameters and the autocovariances up to the order of the model. The maximum likelihood estimators are obtained by alternately solving two linear systems and illustrated using the lynx data. The simplicity of these equations contributes greatly to our theoretical understanding of the likelihood function and the ensuing estimators. Their range of applications are not limited to the parameters of autoregressive models; in fact, they are applicable to the parameters of ARMA models and covariance matrices of stochastic processes whose finite-dimensional distributions are multi-variate t .     

ON THE PARTIAL SUMS OF RESIDUALS IN AUTOREGRESSIVE AND MOVING AVERAGE MODELS

Abstract. The limiting process of partial sums of residuals in stationary and invertible autoregressive moving-average models is studied. It is shown that the partial sums converge to a standard Brownian motion under the assumptions that estimators of unknown parameters are root- n consistent and that innovations are independent and identically distributed random variables with zero mean and finite variance or, more generally, are martingale differences with moment restrictions specified in Theorem 1. Applications for goodness-of-fit and change-point problems are considered. The use of residuals for constructing nonparametric density estimation is discussed.