Abstract
For about thirty years, time series models with time-dependent coefficients have sometimes been considered as an alternative to models with constant coefficients or non-linear models. Analysis based on models with time-dependent models has long suffered from the absence of an asymptotic theory except in very special cases. The purpose of this paper is to provide such a theory without using a locally stationary spectral representation and time rescaling. We consider autoregressive-moving average (ARMA) models with time-dependent coefficients and a heteroscedastic innovation process. The coefficients and the innovation variance are deterministic functions of time which depend on a finite number of parameters. These parameters are estimated by maximising the Gaussian likelihood function. Deriving conditions for consistency and asymptotic normality and obtaining the asymptotic covariance matrix are done using some assumptions on the functions of time in order to attenuate non-stationarity, mild assumptions for the distribution of the innovations, and also a kind of mixing condition. Theorems from the theory of martingales and mixtingales are used. Some simulation results are given and both theoretical and practical examples are treated.
Similar content being viewed by others
References
N.A. Abdrabbo M.B. Priestley (1967) ArticleTitleOn the prediction of non-stationery processes J. Roy. Statist. Soc. Ser. B 29 570–585 Occurrence Handle0157.47302 Occurrence Handle221706
D.W.K. Andrews (1988) ArticleTitleLaws of large numbers for dependent non-identically distributed random variables Econom. Theory 4 458–467
C. F. Ansley (1979) ArticleTitleAn algorithm for the exact likelihood of a mixed autoregressive-moving average process Biometrika 66 59–65 Occurrence Handle0411.62059 Occurrence Handle529148 Occurrence Handle10.2307/2335242
C.F. Ansley P. Newbold (1980) ArticleTitleFinite sample properties of estimators for autoregressive-moving average models J. Econometrics 13 159–183 Occurrence Handle0432.62063 Occurrence Handle10.1016/0304-4076(80)90013-5
Azrak, R. and Mélard, G.: Exact likelihood estimation for extended ARIMA models, In: T. Subba Rao (ed.) Developments in Time Series Analysis, in honour of M. B. Priestley. Chapman & Hall, London, 1993, pp. 110–123.
R. Azrak G. Mélard (1998) ArticleTitleThe exact quasi-likelihood of time-dependent ARMA models J. Statist. Plann. Inference 68 31–45 Occurrence Handle0937.62087 Occurrence Handle1627592 Occurrence Handle10.1016/S0378-3758(97)00134-1
Azrak, R. and Mélard, G.: Autoregressive models with time-dependent coefficients – A comparison with Dahlhaus’ approach, ECARES working paper, Université Libre de Bruxelles, 2005.
Y. Bar-Shalom (1971) ArticleTitleOn the asymptotic properties of the maximum-likelihood estimate obtained from dependent observations J. Roy.Statist. Soc. Ser. B 33 72–77 Occurrence Handle0225.62055 Occurrence Handle287630
I.V. Basawa R.L.S. Lund (2001) ArticleTitleLarge sample properties of parameter estimates for periodic ARMA models J. Time Ser. Anal. 22 651–663 Occurrence Handle0984.62062 Occurrence Handle1867391 Occurrence Handle10.1111/1467-9892.00246
I.V. Basawa B.L.S. Prakasa Rao (1980) Statistical Inference for Stochastic Processes Academic Press London New York
B.R. Bhat (1974) ArticleTitleOn the method of maximum-likelihood for dependent observations J. Roy. Statist. Soc. Ser. B 36 48–53 Occurrence Handle0282.62031 Occurrence Handle356332
A. Bibi C. Francq (2003) ArticleTitleConsistent and asymptotically normal estimators for cyclically time-dependent linear models Ann. Inst. Statist. Math. 55 41–68 Occurrence Handle1049.62094 Occurrence Handle1965962 Occurrence Handle10.1023/A:1024674428698
T. Bollerslev (1986) ArticleTitleGeneralized autoregressive conditional heteroskedasticity J. Econometrics. 31 307–327 Occurrence Handle0616.62119 Occurrence Handle853051 Occurrence Handle10.1016/0304-4076(86)90063-1
Box, G. E. P. and Jenkins, G. M.: Time Series Analysis, Forecasting and Control, Holden-Day, San Francisco (revised edition), 1976.
Chow, Y. S. On the L p convergence for n−1/pS n , 0<p<2, Ann. Math. Statist. 42 (1971), 393–394.
Cramér, H.: On some classes of non-stationary stochastic processes, In:Proceedings of the Fourth Berkeley Symposium on Mathematical Statistics and Probability, University of California Press, Berkeley and Los Angeles, Vol. 2, 1961, pp. 57–78.
J. Crowder (1976) ArticleTitleMaximum-likelihood estimation for dependent observations J. Roy. Statist. Soc. Ser. B 38 45–53 Occurrence Handle0324.62023 Occurrence Handle403035
R. Dahlhaus (1996a) ArticleTitleMaximum likelihood estimation and model selection for locally stationary processes J. Nonparametr. Statist. 6 171–191 Occurrence Handle1383050
R. Dahlhaus (1996b) ArticleTitleOn the Kullback-Leibler information divergence of locally stationary processes Stochastic Process. Appl. 62 139–168 Occurrence Handle1388767 Occurrence Handle10.1016/0304-4149(95)00090-9
R. Dahlhaus (1996c) Asymptotic statistical inference for nonstationary processes with evolutionary spectra P.M. Robinson M. Rosenblatt (Eds) Athens Conference on Applied Probability an Time Series Analysis 2. Springer New York 145–159
R. Dahlhaus (1997) ArticleTitleFitting time series models to nonstationary processes Ann.Statist. 25 1–37 Occurrence Handle0871.62080 Occurrence Handle1429916 Occurrence Handle10.1214/aos/1034276620
J.E.H. Davidson (1994) Stochastic Limit Theorems An Introduction for Econometricians Oxford University Press Oxford
J. L. Doob (1953) Stochastic Processes Wiley New York
G. Gardner A.C. Harvey G.D.A. Phillips (1980) ArticleTitleAlgorithm AS154, An algorithm for exact maximum likelihood estimation of autoregressive-moving average models by means of Kalman filtering J.Roy. Statist. Soc. Ser. C, Appl. Statist. 29 311–322 Occurrence Handle0471.62098
C. Grillenzoni (1990) ArticleTitleModeling time-varying dynamical systems J. Amer. Statist. Assoc. 85 499–507 Occurrence Handle10.2307/2289790
Guégan, D.: Séries chronologiques non linéaires à temps discret, Economica, Paris, 1994.
P. Hall C.C. Heyde (1980) Martingale Limit Theory and its Application Academic Press New York
M. Hallin (1978) ArticleTitleMixed autoregressive-moving average multivariate processes with time-dependent coefficients J. Multivariate Anal. 8 567–572 Occurrence Handle0394.62067 Occurrence Handle520964 Occurrence Handle10.1016/0047-259X(78)90034-9
M. Hallin (1986) ArticleTitleNon-stationary q-dependent processes and time-varying moving average models: invertibility properties and the forecasting problem Adv. Appl. Probab. 18 170–210 Occurrence Handle0597.62096 Occurrence Handle827335 Occurrence Handle10.2307/1427242
M. Hallin J.F. Ingenbleek (1983) ArticleTitleNonstationary Yule-Walker equations Statist. Probab. Lett. 1 189–195 Occurrence Handle0526.62086 Occurrence Handle709247 Occurrence Handle10.1016/0167-7152(83)90029-9
Hallin, M. and Mélard, G.: Indéterminabilité pure et inversibilité des processus autorégressifs moyenne mobile à coefficients dépendant du temps, Cahiers du Centre d’Etudes de Recherche Opérationnelle 19 (1977), 385–392.
Hamdoune, S.: Etude des problèmes d’estimation de certains modèles ARMA évolutifs, Thesis presented at Université Henri Poincaré, Nancy 1, 1995.
L.A. Klimko P.I. Nelson (1978) ArticleTitleOn conditional least squares estimation for stochastic processes Ann. Statist. 6 629–642 Occurrence Handle0383.62055 Occurrence Handle494770
A. Kowaleski D. Szynal (1991) ArticleTitleOn a characterization of optimal predictors for nonstationary ARMA processes Stochastic Process. Appl. 37 71–80 Occurrence Handle1091695 Occurrence Handle10.1016/0304-4149(91)90061-G
Kwoun, G. H. and Yajima, Y.: On an autoregressive model with time-dependent coefficients, Ann. Inst. Statist. Math. 38, Part A (1986), 297–309.
R. L. Lumsdaine (1996) ArticleTitleConsistency and asymptotic normality of the quasi-maximum estimator in IGARCH(1, 1) and covariance stationary GARCH(1, 1) models Econometrica 64 575–596 Occurrence Handle0844.62080 Occurrence Handle1385558 Occurrence Handle10.2307/2171862
D.W. Marquardt (1963) ArticleTitleAn algorithm for least-squares estimation of non-linear parameters J. Soc. Ind. Appl. Math. 11 431–441 Occurrence Handle0112.10505 Occurrence Handle153071 Occurrence Handle10.1137/0111030
G. Mélard (1977) ArticleTitleSur une classe de modéles ARIMA dépendant du temps Cahiers du Centre d’Etudes de Recherche Opérationnelle 19 285–295 Occurrence Handle0377.62050
Mélard, G.: The likelihood function of a time-dependent ARMA model, In O.D. Anderson and M.R. Perryman (eds.), Applied Time Series Analysis, North-Holland, Amsterdam, 1982, pp. 229–239.
Mélard, G.: Analyse de données chronologiques, Coll. Séminaire de mathématiques supérieures – Séminaire scientifique OTAN (NATO Advanced Study Institute) no. 89, Presses de l’Université de Montréal, Montréal.
Mélard, G. and Kiehm, J.-L.: ARIMA models with time-dependent coefficients for economic time series, In: O. D. Anderson and M. R. Perryman (eds.), Time Series Analysis, North-Holland, Amsterdam, 1981, pp. 355–363.
Mélard, G. and Pasteels, J.-M.: Manuel d’utilisation de Time Series Expert (TSE version 2.3), Institut de Statistique, Université Libre de Bruxelles, 1997.
K.S. Miller (1968) Linear Difference Equations Benjamin New York
K.S. Miller (1969) ArticleTitleNonstationary autoregressive processes I.E.E.E. Trans Inform. Theory IT-15 315–316 Occurrence Handle10.1109/TIT.1969.1054289
D. Pham T. Tran (1985) ArticleTitleSome mixing properties of time series models Stochastic Process. Appl. 19 297–303 Occurrence Handle0564.62068 Occurrence Handle787587 Occurrence Handle10.1016/0304-4149(85)90031-6
M.B. Priestley (1965) ArticleTitleEvolutionary spectra and non-stationary processes J. Roy. Statist. Soc. Ser. B 27 204–237 Occurrence Handle0144.41001 Occurrence Handle199886
M.B. Priestley (1988) Non-Linear and Non-Stationary Time Series Analysis Academic Press New York
M.H. Quenouille (1957) The Analysis of Multiple Time Series Griffin London
D. Silvey (1961) ArticleTitleA note on maximum-likelihood in the case of dependent random variables J. Roy. Statist. Soc. Ser. B 23 444–452 Occurrence Handle0156.39801 Occurrence Handle138158
N. Singh M.S. Peiris (1987) ArticleTitleA note on the properties of some nonstationary ARMA processes Stochastic Process. Appl. 24 151–155 Occurrence Handle0611.62110 Occurrence Handle883610 Occurrence Handle10.1016/0304-4149(87)90035-4
W. F. Stout (1974) Almost Sure Convergence Academic Press New York
T. Subba Rao (1970) ArticleTitleThe fitting of non-stationary time-series models with time dependent parameters J. Roy. Statist. Soc. Ser. B 32 312–322 Occurrence Handle269065
G.C. Tiao M.R. Grupe (1980) ArticleTitleHidden periodic autoregressive-moving average models in time series data Biometrika. 67 365–373 Occurrence Handle0436.62076 Occurrence Handle581732 Occurrence Handle10.2307/2335479
Tjøstheim, D.: Estimation in linear time series models I: stationary series, Departement of Mathematics, University of Bergen 5000 Bergen, Norway and Departement of Statistics, University of North Carolina Chapel Hill, North Carolina 27514, 1984a.
Tjøstheim, D.: Estimation in linear time series models II: some nonstationary series, Departement of Mathematics, University of Bergen 5000 Bergen, Norway and Departement of Statistics, University of North Carolina Chapel Hill, North Carolina 27514, 1984b.
D. Tjøstheim (1986) ArticleTitleEstimation in nonlinear time series models Stochastic Process. Appl. 21 251–273 Occurrence Handle0598.62109 Occurrence Handle833954 Occurrence Handle10.1016/0304-4149(86)90099-2
H. Tong (1990) Non-linear Time Series: A Dynamical System Approach Oxford University Press Oxford
J.S. Tyssedal D. Tjøstheim (1982) ArticleTitleAutoregressive processes with a time-dependent variance J. Time Series Anal. 3 209–217 Occurrence Handle0545.62054
E. J. Wegman (1974) ArticleTitleSome results on non stationary first order autoregression Technometrics 16 321–322 Occurrence Handle0282.62075 Occurrence Handle10.2307/1267955
H. White (1982) ArticleTitleMaximum likelihood estimation of misspecified models Econometrica 50 1–25 Occurrence Handle0478.62088 Occurrence Handle640163 Occurrence Handle10.2307/1912526
P. Whittle (1965) ArticleTitleRecursive relations for predictors of non-stationary processes J. Roy. Statist. Soc. Ser. B 27 523–532 Occurrence Handle0147.18704 Occurrence Handle195226
Author information
Authors and Affiliations
Corresponding author
Additional information
Received 2004; Final version 23 December 2004
Rights and permissions
About this article
Cite this article
Azrak, R., Mélard, G. Asymptotic Properties of Quasi-Maximum Likelihood Estimators for ARMA Models with Time-Dependent Coefficients. Stat Infer Stoch Process 9, 279–330 (2006). https://doi.org/10.1007/s11203-005-1055-6
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/s11203-005-1055-6