Robust Estimation in Vector Autoregressive Moving-Average Models

Bustos and Yohai proposed a class of robust estimates for autoregressive moving-average (ARMA) models based on residual autocovariances (RA estimates). In this paper an affine equivariant generalization of the RA estimates for vector ARMA processes is given. These estimates are asymptotically normal and, when the innovations have an elliptical distribution, their asymptotic covariance matrix differs only by a scalar factor from the covariance matrix corresponding to the maximum likelihood estimate. A Monte Carlo study confirms that the RA estimates are efficient under normal errors and robust when the sample contains outliers. A robust multivariate goodness-of-fit test based on the RA estimates is also obtained.     

Estimation of Nonparametric Autoregressive Time Series Models Under Dynamical Constraints

Abstract. A method is introduced to estimate nonparametric autoregressive models under the additional constraint that its regression function has a stable cycle. It is based on a penalty approach that chooses a series expansion approximation taking into account both goodness‐of‐fit and fulfillment of the constraint. Consistency of the proposed estimator is obtained under general hypothesis. Feasibility and effective performance of the introduced method are studied through simulated examples and electro‐encephalographic data collected from a subject suffering from epilepsy.     

Robust Hypothesis Testing and Robust Time Series Interpolation And Regression

Abstract. Recent results on minimax robust time series interpolation and regression coefficient estimation are generalized and extended through a relationship with robust hypothesis testing. The spectral uncertainty classes in the time series problems are assumed to be convex and to satisfy an integral constraint such as on the variance of the process. It is shown that robust solutions in such cases can always be obtained from the least-favourable probability density functions for corresponding hypothesis testing problems. A specific class, the bounded spectral densities from the band model, is considered to illustrate the results.     

Gaussian Maximum Likelihood Estimation For ARMA Models. I. Time Series

Abstract. We provide a direct proof for consistency and asymptotic normality of Gaussian maximum likelihood estimators for causal and invertible autoregressive moving‐average (ARMA) time series models, which were initially established by Hannan [Journal of Applied Probability (1973) vol. 10, pp. 130–145] via the asymptotic properties of a Whittle's estimator. This also paves the way to establish similar results for spatial processes presented in the follow‐up article by Yao and Brockwell [Bernoulli (2006) in press].     

Empirical Likelihood for Outlier Detection and Estimation in Autoregressive Time Series

Identification and estimation of outliers in time series is proposed by using empirical likelihood methods. Theory and applications are developed for stationary autoregressive models with outliers distinguished in the usual additive and innovation types. Some other useful outlier types are considered as well. A simulation experiment is used for studying the behaviour of the empirical likelihood‐based method in finite samples and indicates that the proposed methods are preferable when dealing with the non‐Gaussian data. Our simulations suggest that the usual sequential procedure for multiple outlier detection is suitable also for the methods based on empirical likelihood.     

Oracle M‐Estimation for Time Series Models

We propose a thresholding M‐estimator for multivariate time series. Our proposed estimator has the oracle property that its large‐sample properties are the same as of the classical M‐estimator obtained under the a priori information that the zero parameters were known. We study the consistency of the standard block bootstrap, the centred block bootstrap and the empirical likelihood block bootstrap distributions of the proposed M‐estimator. We develop automatic selection procedures for the thresholding parameter and for the block length of the bootstrap methods. We present the results of a simulation study of the proposed methods for a sparse vector autoregressive VAR(2) time series model. The analysis of two real‐world data sets illustrate applications of the methods in practice.     

DIAGNOSTIC CHECKING OF PERIODIC AUTOREGRESSION MODELS WITH APPLICATION

Abstract. An overview of model building with periodic autoregression (PAR) models is given emphasizing the three stages of model development:identification, estimation and diagnostic checking. New results on the distribution of residual autocorrelations and suitable diagnostic checks are derived. The validity of these checks is demonstrated by simulation. The methodology discussed is illustrated with an application. It is pointed out that the PAR approach to model development offers some important advantages over the more general approach using periodic autoregressive moving-average models.     

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.     

Broadband Semiparametric Estimation of the Memory Parameter of a Long-Memory Time Series Using Fractional Exponential Models

We consider a fractional exponential, or FEXP estimator of the memory parameter of a stationary Gaussian long-memory time series. The estimator is constructed by fitting a FEXP model of slowly increasing dimension to the log periodogram at all Fourier frequencies by ordinary least squares, and retaining the corresponding estimated memory parameter. We do not assume that the data were necessarily generated by a FEXP model, or by any other finite-parameter model. We do, however, impose a global differentiability assumption on the spectral density except at the origin. Because of this, and its use of all Fourier frequencies, we refer to the FEXP estimator as a broadband semiparametric estimator. We demonstrate the consistency of the FEXP estimator, and obtain expressions for its asymptotic bias and variance. If the true spectral density is sufficiently smooth, the FEXP estimator can strongly outperform existing semiparametric estimators, such as the Geweke–Porter-Hudak (GPH) and Gaussian semiparametric estimators (GSE), attaining an asymptotic mean squared error proportional to (log n )/ n , where n is the sample size. In a simulation study, we demonstrate the merits of using a finite-sample correction to the asymptotic variance, and we also explore the possibility of automatically selecting the dimension of the exponential model using Mallows' C_L criterion.     

Bayesian Outlier Detection in Non‐Gaussian Autoregressive Time Series

This work investigates outlier detection and modelling in non‐Gaussian autoregressive time series models with margins in the class of a convolution closed parametric family. This framework allows for a wide variety of models for count and positive data types. The article investigates additive outliers which do not enter the dynamics of the process but whose presence may adversely influence statistical inference based on the data. The Bayesian approach proposed here allows one to estimate, at each time point, the probability of an outlier occurrence and its corresponding size thus identifying the observations that require further investigation. The methodology is illustrated using simulated and observed data sets.     

Marginal Estimation of Parameter Driven Binomial Time Series Models

This article develops asymptotic theory for estimation of parameters in regression models for binomial response time series where serial dependence is present through a latent process. Use of generalized linear model estimating equations leads to asymptotically biased estimates of regression coefficients for binomial responses. An alternative is to use marginal likelihood, in which the variance of the latent process but not the serial dependence is accounted for. In practice, this is equivalent to using generalized linear mixed model estimation procedures treating the observations as independent with a random effect on the intercept term in the regression model. We prove that this method leads to consistent and asymptotically normal estimates even if there is an autocorrelated latent process. Simulations suggest that the use of marginal likelihood can lead to generalized linear model estimates result. This problem reduces rapidly with increasing number of binomial trials at each time point, but for binary data, the chance of it can remain over 45% even in very long time series. We provide a combination of theoretical and heuristic explanations for this phenomenon in terms of the properties of the regression component of the model, and these can be used to guide application of the method in practice.     

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.     

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.     

Gaussian Semiparametric Estimation of Non-stationary Time Series

Generalizing the definition of the memory parameter d in terms of the differentiated series, we showed in Velasco (Non-stationary log-periodogram regression, Forthcoming J. Economet. , 1997) that it is possible to estimate consistently the memory of non-stationary processes using methods designed for stationary long-range-dependent time series. In this paper we consider the Gaussian semiparametric estimate analysed by Robinson (Gaussian semiparametric estimation of long range dependence. Ann. Stat . 23 (1995), 1630–61) for stationary processes. Without a priori knowledge about the possible non-stationarity of the observed process, we obtain that this estimate is consistent for d ∈ (−½, 1) and asymptotically normal for d ∈ (−½,¾) under a similar set of assumptions to those in Robinson's paper. Tapering the observations, we can estimate any degree of non-stationarity, even in the presence of deterministic polynomial trends of time. The semiparametric efficiency of this estimate for stationary sequences also extends to the non-stationary framework.     

Asymptotics of Quantiles and Rank Scores in Nonlinear Time Series

This paper extends the concept of regression and autoregression quantiles and rank scores to a very general nonlinear time series model. The asymptotic linearizations of these nonlinear quantiles are then used to obtain the limiting distributions of a class of L-estimators of the parameters. In particular, the limiting distributions of the least absolute deviation estimator and trimmed estimators are obtained. These estimators turn out to be asymptotically more efficient than the widely used conditional least squares estimator for heavy-tailed error distributions. The results are applicable to linear and nonlinear regression and autoregressive models including self-exciting threshold autoregressive models with known threshold.     

Testing Parameter Change in General Integer‐Valued Time Series

We consider the structural change in a class of discrete valued time series, which the conditional distribution belongs to the one‐parameter exponential family. We propose a change point test based on the maximum likelihood estimator of the model's parameter. Under the null hypothesis (of no change), the test statistic converges to a well‐known distribution, allowing the calculation of the critical value of the test. The test statistic diverges to infinity under the alternative, meaning that the test has asymptotic power one. Some simulation results and real data applications are reported to show the effectiveness of the proposed procedure.     

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.     

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.     

Semiparametric Modeling of Seasonal Time Series

Often, in practice, one may regard an observed time series as being composed of a function that is smooth over years, with additive seasonal effects. As a modification, we formulate a particular multiplicative model that expresses the observed data as a yearly trend function with additive amplitude-modulated seasonal factors. Without smoothness restrictions on the yearly trend and modulation components, the least squares solutions for the seasonal components are shown to be proportional to the eigenvector corresponding to the maximum eigen value of the within-season covariance matrix. If the trend and seasonal modulations are modeled as smooth splines, we give the comparable estimators for the smooth functions and the seasonal factors. We show consistency for the trend, modulation and seasonal factors as well as asymptotic normality for the seasonal estimates. Model selection, fitting and forecasting are considered for a quarterly earnings series that exhibits extreme nonlinear and nonstationary behavior. We compare the results with those obtained using a competing nonstationary multiplicative ARIMA model