Distribution of the Estimators for Autoregressive Time Series With a Unit Root Author(s): David A. Dickey and Wayne A. Fuller Reviewed work(s): Source: Journal of the American Statistical Association, Vol. 74, No. 366 (Jun., 1979), pp. 427431 Published by: American Statistical Association Stable URL: http://www.jstor.org/stable/2286348 . Accessed: 04/03/2013 13:31 Your use of the JSTOR archive indicates your acceptance of the Terms & Conditions of Use, available at . http://www.jstor.org/page/info/about/policies/terms.jsp . JSTOR is a not-for-profit service that helps scholars, researchers, and students discover, use, and build upon a wide range of content in a trusted digital archive. We use information technology and tools to increase productivity and facilitate new forms of scholarship. For more information about JSTOR, please contact [email protected]. . American Statistical Association is collaborating with JSTOR to digitize, preserve and extend access to Journal of the American Statistical Association. http://www.jstor.org This content downloaded on Mon, 4 Mar 2013 13:31:08 PM All use subject to JSTOR Terms and Conditions Distribution of the Estimators for Autoregressive TimeSeries Witha UnitRoot DAVIDA. DICKEYand WAYNEA. FULLER* Let n observations Yi, Y2, ..., Yn be generated by the model Yt = pYt-1 + et, where Y0 is a fixed constant and {et t_ln is a sequence of independent normal random variables with mean 0 and variance a2. Properties of the regressionestimator of p are obtained under the assumption that p = 4 1. Representations for the limit distributionsof the estimator of p and of the regressiont test are derived. The estimatorof p and the regressiont test furnishmethods of testingthe hypothesisthat p = 1. Rao (1961) extended White's results to higher-order autoregressivetime serieswhose characteristicequations have a singleroot exceedingone and remainingrootsless than one in absolute value. Anderson (1959) obtained the limitingdistributionsof estimatorsfor higher-order processes with more than one root exceeding one in value. absolute WORDS: Time series; Autoregressive; Nonstationary; KEY The hypothesisthat p = 1 is of some interestin apRandom walk; Differencing. plicationsbecause it correspondsto the hypothesisthat it is appropriateto transformthe time series by differ1. INTRODUCTION encing.Currently,practitionersmay decide to difference Considerthe autoregressivemodel a timeserieson the basis of visual inspectionofthe auto(I. 1) correlationfunction.For example, see Box and Jenkins Yt = pYt-, + et , t = 1,2, (1970, p. 174). The autocorrelationfunctionofthe deviawhere Yo = 0, p is a real number,and {et} is a sequence tions fromthe fittedmodel is then investigatedas a test of independentnormalrandomvariables withmean zero of the appropriatenessof the model. Box and Jenkins and variance 0-2 [i.e., et NID(O, -2)]. (1970, p. 291) suggestedthe Box and Pierce (1970) test The timeseries Yt converges(as t -* oo) to a stationary statistic K time series if IpI < 1. If IPI = 1, the time series is not QK=nErk2, (1.3) stationaryand the variance of Yt is to-2. The time series k=1 withp = 1 is sometimescalleda randomwalk. If Ip I > 1, where n n the time series is not stationaryand the variance of the rk = eet-k YE e~~ E eIt' e2)-1 time series growsexponentiallyas t increases. t=1 t=k+l Given n observationsY1, Y2, ..., Yn, the maximum and the et'sare the residualsfromthe fittedmodel. Under likelihoodestimatorof p is the least squares estimator the null hypothesis,the statisticQK is approximatelydisn n tributedas a chi-squaredrandom variable with K - p A= (1.2) degreesof freedom,wherep is the numberof parameters (E Yt_12)l E YtYt . t=1 t=1 estimated. If I Yt} satisfies(1.1) then p = 0 under the Rubin (1950) showed that is a consistentestimator null hypothesisand et = Yt- Yt-1. for all values of p. White (1958) obtained the limiting The likelihoodratio test of the hypothesisHo: p = 1 joint-momentgeneratingfunctionfor the properlynor- is a functionof For malized numerator and denominator of A-p. n invert the 1 to able he was # genjoint-moinent IpI A = _ Se 1) (,E Yt-2) (Ap erating functionto obtain the limitingdistributionof _ where p) ofnG2p p- p. For Ip I < 1 the limitingdistribution n is normal. For IPI > 1 the limiting distribution of Se2 = (n - 2) E (Yt - pYt i)2 t=2 is Cauchy. For p = 1, White was -p) ( |pln(p2-I)-1 1) as In this article we derive representatiolns able to representthe limitingdistributionof n (forthe limiting that of the ratio of two integralsdefinedon the Wiener distributionsof p and of T, given that p = 1. The I process. representationspermit constructionof tables of the percentagepointsforthe statistics.The statisticsAand T A * Wayne A. Fuller is Professor of Statistics at Iowa State University,Ames, IA 50011. David A. Dickey is Assistant Professorof Statistics at North Carolina State University,Raleigh, NC 27650. This researchwas partiallysupported by JointStatistical Agreement No. 76-66 with the Bureau of the Census. ? Journalof the AmericanStatistical Association June 1979,Volume74, Number366 Theoryand Methods Section 427 This content downloaded on Mon, 4 Mar 2013 13:31:08 PM All use subject to JSTOR Terms and Conditions 428 Journalof the AmericanStatisticalAssociation,June 1979 are also generalizedto models containinginterceptand i > 1, aj -l = aj?j+l = -1 forall j, and ai, = 0 otherwise. By a resultofRutherford(1946), the rootsofAnare timeterms. In Section 4 the Monte Carlo methodis used to comXi, = ( ) sec2((n - i)r/(2n - 1)) pare the powerof the statisticsT and Awith that of QK. i=l 21,2... , n-1 Examples are given in Section 5. matrixwhose Let M be the t - 1 by n - 1 orthonormal to Xin.The ith rowis the eigenvectorofAncorresponding M is of itth element The class of models we investigateconsistsof (a) the model (1.1), (b) the model 2(2n -1)Mit= 2. MODELS AND ESTIMATORS 2 Yt =,u + pYt-, + et, t = 1, 2,... (2.1) 0 Yo= 1A+ Yo = 0 . 2)-1(2t - 1)(2i -)r] - (3.1) , and we can expressthe normalizeddenominatorsum of squares appearingin as A and (c) the model Yt = cos [(4n t = 1, 2, ... ft + pYt- + et, (2.2) = rn n n-I E Yt_12 n-2 n-2 - E XinZin2 X (3.2) t=2 Assume n observationsYi, Y2, ..., Yn are available whereZ Let foranalysis and definethe (n - 1) dimensionalvectors, = (Zn, ... Z2n Zn-1,n) , Me,,. = Hn-n = (1- yt = (Y2, Y3, Y4, Yt-11 = (n/2), 3 - (n/2), (n/2), 2- (Y1, Y2, Y3, . .. , n - 1- . .. I Y.) . I Yn_1), (n/2)), n -1) n(n I Let U= Yt-1, U2 = (1, Yt-1), and U3 = (1, t,Yt-1). We definep as the last entryin the vector (Tny Wn,Vn) = = and definePT as the last entryin the vector (U3'U3)-lU3'Yt (2.4) . The statisticsanalogousto the regressiont statisticsfor the test of the hypothesisthat p = 1 are A = (A- A = (pAA Tr=(r- 1) - (Sel2Cl) 1)(Se22C2) 1) (Se32C3)4 (2.5) , , 2, (2.6) (2.7) where Sek2 is the appropriate regressionresidual mean square Sek2= (n - k - 1) '[Y1'(I - Uk(Uk'Uk)'lUk')Yt] n (n-2) n- 2 n2 n (n-3) ... 2(n-3) ... n n-2 and (2.3) (U2/U2)-lU2/yt, 2 n2 n2 n-d (Yn_ n-i n y YE1, 1n- E n-2 t=2 Hnen = HnM-1Z (n - j=1 j) (j - )ej)' (3.3) . Then n - 1) = (2rn)-l(Tn2 -1) + 1) = n(- Op(n-1) (2r - 2Wn2)-l(Tn2- 1 - 2TnWn) + n(Pr 1) = *[(Tn- [2(Pr - -Wn2 2Wn)(Tn - 3 6Vn) - (3.4) , (3.5) Op(n-6), 2)]-1 1] + Op(n-) . (3.6) forthe LimitDistributions 3.2 Representations Having expressedn(,6 - 1), n(AM-1), and nC(A'- 1) (2.8) in terms of (rn, Tn, Wn, Vn) we obtain the limiting dis- elementof (Uk'Uk)> and Ck is the lower-right 3. LIMIT DISTRIBUTIONS As the firststep in obtainingthe limitdistributionswe investigatethe quadratic formsappearing in the statistics. Because the estimatorsare ratios of quadratic formswe lose no generalityby assumingo2 = 1 in the sequel. tributionof the vector random variable. The following lemma will be used in our derivation of the limit distribution. Lemma 1: Let {Zijjf l be a sequence of independent randomvariables withzero means and commonvariance A Let {wi; i = 1, 2, . . } be a sequence of real numbers and let {lwin; i = 1, 2, ..., - 1; n = triangulararray of real numbers.If of the Statistics 3.1 Canonical Representation Given that p = 1, the quadratic formEt=2 Yt-12 can be expressedas en'Anen,where en' _ (e1, e2, ..., e_) the elements at3 of An-l satisfy all = 1, a,, = 2 for n E i=i Wi2 < 00 n-i limEI wij2= o Wi2 n-*Ooi=l This content downloaded on Mon, 4 Mar 2013 13:31:08 PM All use subject to JSTOR Terms and Conditions i=l 1, 2, ...} be a Dickeyand Fuller:TimeSeriesWithUnitRoot and lim Win 429 For fixedi, = wi lim in= nx-000 n then Lil, wiZ, is well definedas a limitin mean square and 00 n plim{LwZ}=W i=1 Proof: Let such that e i_l1 wiZ > 0 be given. Then we can choose an M 21(yi,7y2, 2yi3- E (a 2 b2 Let ( E Wi2 < E/9 n-I n-1 n 2XinZZ, and (, = binZi, i=i 00 n WZ a21 2- 1j i=1 W,21 < for all n > M. Furthermore,given Ml, we can choose No > M such that n > No implies aI (win - w,)2 < E/9 i=1 and n a i=M+l W172 < lim n-I var{ i 1 i-1l 3/9 E (r, T, W, V) - iy*2Z,2,, (W, V) = 'Yi = and Y 2 (E -1 2-yiZi) 2 yi2Zi, E 2F[2yi3- I2]Zi) 'i\ol lim n-2Xin= 4E (2i -l 7r]-2 (T2 2W - 1)-2W] 2TW]2-l)T and T A - 1) ( - W2- 1) - T- 2 Let Yt satisfy(2.1) with p TTA2(I7 ~~~~00 00 A ((r- = 1. Then *[(T - W2 - 2TW] 3V2)-1 and 00 (, 1) 1. Then I(P-'(T2-1), AU n where (F, T) 1) n(- Theorem1: Let {Zi},ll be a sequence of NID(O, 1) randomvariables. Let qn' = (Pn, Tn0,Wn, V70),wherethe elementsof the vectorare definedin (3.2) and (3.3). Let 00 n-o- Corollary 1: Let Y, satisfy (1.1) with p (p wiZiI < 1 Tn} -limvarI (Pn*, Tn*, Wn*, Vn*) converges in probability to (r, T, W, V). Because the distributionof (rn*, Tn*, Wn*, Vn*) is the same as that of nqnwe obtain the conclusion. and the resultfollowsby Chebyshev'sinequality. = ai2 _ limvar{Tn*} n-ow Therefore,by (3.7) and Lemma 1, Tn* converges in probabilityto T. It followsby analogous argumentsthat 00 wi,-Zi - E n--*= i=1 Hence, forall n > No, n . ginZi) E i=1 Now, forexample,by (3.3) f/9 i=1 M ainZi) n-I n-1 Vn*) (Wn*, 1/30) (1, 1/3, = g 2) (Pn*, Tn*) = i=M+l (3.7) y2)* By Jolley (1-961,p. 56, #307,308) we have 00 2 (ai, bi,9i)' =i -o 3V2)U[(T - 2W)(T - 6V) - 1] - 2W) (T - 6V) - 1] Proof: The proof is an immediate consequence of Theorem 1 because the denominatorquadratic forms in p pA, PJ are continuousfunctionsof q that have prob ability 1 of being positiveand the Sek2 of (2.8) converge in probabilityto 02. The numeratorand denominatorof the limit representation of n(A- 1) are consistentwith White's (1958) Then )n convergesin distributionto -q,that is, limitjoint-momentgeneratingfunction. Note that the limitingdistributionsof A, and TAare ?In >7 obtained under the assumptionthat the constant term Proof: Note that q is a well-definedrandom variable ,u is zero. Likewise, the limitingdistributionsof Pr, and because FJt? iik < ?O fork = 2, 3, ..., 6. Let kinbe the 7 are derivedunder the assumptionthat the coefficient for time, R3,is zero. The distributionsof P and TT are ith columnof HRM-1,where unaffectedby the value of ,uin (2.2). If ,u # 0 for (2.1) in= (ai,e, bin0gj0)' or A3 z 0 for (2.2), the limitingdistributionsof $, and tr model and are normal. Trhusif (2.1) is the mainltainled = [cov(T70, Zi0),cov(W70 Zin),cov(V70, Zi0)]' 70 --ic This content downloaded on Mon, 4 Mar 2013 13:31:08 PM All use subject to JSTOR Terms and Conditions Journal of the American StatisticalAssociation, June1979 430 the statisticTy is used to test the hypothesisp = 1, the Monte Carlo Power of Two-Sided hypothesiswill be accepted withprobabilitygreaterthan Size .05 Tests of p = 1 the nominallevel where,u# 0. p By the resultsof Fuller (1976, p. 370), the limitingdistributionsof p, p,J,and p', giventhat p = -1, are identi- n .95 Test .80 .90 .99 1.00 1.02 1.05 cal and equal to the mirrorimage ofthe limitingdistribu.05 .04 Q1 .09 .05 .04 .07 .47 tion of given that p = 1. Likewise, the limitingdis- 50 .07 .04 .03 .04 .03 .53 .08 Q5 tributionsof T, T, and Tr forp = -1 are identical and .05 .04 .03 .03 .03 .09 .54 QIO equal to the mirrorimage of the limitingdistributionof .03 .02 .02 .02 .02 .52 .08 Q20 .57 .18 .08 .05 .05 .14 .71 T forp = 1. .57 .18 .04 .05 T .08 .23 .70 In our derivationsY0 is fixed.The distributionsof pA .11 .28 .10 .06 .05 .06 .67 and T do not depend on the value of Y0. The limiting .18 .06 .04 .04 .05 .13 .68 distributionof does not depend on Yo, but the small- 100 .15 Q1 .07 .05 .04 .05 .94 .26 .13 .08 .05 .04 sample distributionof will be influencedby Yo. .04 .34 .95 Q5 .11 .06 .05 .03 .04 .37 .95 QIO In the derivationswe assumed the etto be NID (0, a2). .08 .05 .04 .03 .03 .38 .95 Q20 The limitingdistributionsalso hold foret that are inde/ .99 .55 .17 .05 .05 .54 .98 .17 .04 .05 pendent and identicallydistributednonnormalrandom .99 .55 .97 T .59 .05 .86 .30 .10 .05 .49 .98 variables with mean zero and variance o-. White (1958) .73 .18 .06 .04 .05 .51 .98 and Hasza (1977) have discussedthis generalization. .34 .12 250 .06 .05 .06 .94 1.00 Q1 The statisticT is a monotonefunctionofthe likelihood .45 .07 1.00 .13 .04 .05 .95 Q5 ratio when Y0 is fixedunderthe null model of p = 1 and .34 .12 .06 .04 .05 .95 1.00 QIo .24 .10 .05 .04 .04 .95 1.00 underthe alternativemodel ofp 5 1. Tests based on the Q20 .74 .05 p5 1.00 1.00 .98 1.00 .08 r statisticsare not likelihoodratios and not necessarily 1.00 1.00 1.00 .74 .05 .97 T .08 the mostpowerfulthat can be constructedif,forexample, 1.00 .06 .05 pg. 1.00 .96 .43 .98 1.00 .89 .28 .04 .05 .98 1.00 thealternativemodelis that (Y0, Yi, . . ., Yn) is a portion of a realizationfroma stationaryautoregressiveprocess. A set of tables of the percentilesof the distributionsis given in Fuller (1976, pp. 371,373) and a slightlymore statistics.It is not surprisingthat p and T are superior accurate set in Dickey (1976). Dickey also presents to p, and T, because p and T use the knowledgethat the details of the table constructionand gives estimates of true value of the interceptin the regressionis zero. Third,forp < 1 the statistic A, yieldeda more powerthe samplingerrorof the estimatedpercentiles. ful test than the statistic For p > 1 the rankingwas reversedand the Ty statisticwas more powerful. 4. POWERCOMPARISONS For sample sizes of 50 and 100, and p < 1, Qi was the most powerfulofthe Q statisticsstudied.For sample size The powers of the statistics studied in this article 250, was the most powerfulQ statistic. The size of Q5 were comparedwiththat of the Box-Pierce Q statisticin the tests Q forK > 5 was considerablyless than .05 for a Monte Carlo studyusingthe model A A A TA. 1,2, ..., n n = 50. There is evidence that T and y, are biased tests, acthe null hypothesismore than 95 percentof the cepting where the et - NID (0, a2) and Yo = 0. Four thousand time forp close to, but less than, one. Because the tests samples of size n = 50, 100, 250 were generated for are consistent,the minimumpoint of the powerfunction p = .80, .90, .95, .99, 1.00, 1.02, 1.05. The random- is moving toward one as the sample size increases. number generatorSUPER DUPER fromMcGill Universitywas used to create the pseudonormalvariables. 5. EXAMPLES Eight two-sidedsize .05 tests of the hypothesisp = 1 were applied to each sample. The tests were p, T, pA, r,, Gould and Nelson (1974) investigatedthe stochastic Q1, Q5, QIO, Q20, whereQK is the Box-PierceQ statistic structureof the velocityof money using the yearlyobin (1.3) withet = Yt - Yt-i. defined servationsfrom1869through1960 givenin Friedmanand There are several conclusionsto be drawn fromthe Schwartz (1963). Gould and Nelson concluded that the resultspresentedin the table. First,the Q statisticsare logarithm of velocity is consistent with the model less powerfulthan the statisticsintroducedin thisarticle. X, = Xt-- + et, where et - N(0, a2) and Xt is the For example, when n = 250 and p = .8 the worstof the velocityof money. statistics introduced in this article rejected the null Two models, hypothesis100 percentof the time,whilethe best of the Xt = p(Xt -X1) -- et (5.1) Qstatisticsrejectedthe nullhypothesisin only45 percent of the samples. and Second, the performancesof p$and T were similar,and (5.2) Xt= ,U+ pXt_.1+C e, they were uniformlymore powerfulthan the other test Yt= pYt-+ et , t= This content downloaded on Mon, 4 Mar 2013 13:31:08 PM All use subject to JSTOR Terms and Conditions Dickeyand Fuller:TimeSeriesWithUnitRoot 431 were fitto the data. For (5.1) the estimateswere Xi = 1.0044(Xt, (.0094) and for (5.2), t- = - X1)i 2- n(p- 1). Also the "t statistic" constructedby dividing the coefficient of Yt-, by the regressionstandarderroris approximatelydistributedas ,. For thisexamplewe have .0052 (n-p .0141+ .9702Xt_-, .0050 2= (.0176) (.0199) n(A- 1) T = (. 0094) = 91(.0044) = .4004 (.0044) = .4681 Using either Table 8.5.1 or 8.5.2 of Fuller (1976), the hypothesisthat p = 1 is accepted at the .10 level. For (5.2) we obtain the statistics P(-- 1) and TA = = 92(.9702- 1) = - 2.742 (.0199)l'(.9702 - 1.0) = - 1.50 Again the hypothesisis accepted at the .10 level. As a second example we study the logarithmof the quarterlyFederal Reserve Board Production Index for the period 1950-1 through1977-4. We assume that the time seriesis adequately representedby the model Yt = fo + ,#it + aiYt-i + a2Yt-2 + et whereet are NID(0, -2) randomvariables. On the basis of the resultsof Fuller (1976, p. 379) the coefficient of Yt-, in the regressionequation Yt- Yt-i = ,Bo+ fit + (ca,+ ca2--)Yt-1 - a2(Yt-l.- Yt-2) + et can be used to test the hypothesisthat p = a, + ca2 = 1. This hypothesisis equivalentto the hypothesisthat one of the roots of the characteristicequation of the process is one. The least squares estimateof the equation is Pt'- Yt-, = .52 + .00120t- .119Yt_ (.15) (.00034) (.033) + .498(Yt-, (.081) -Yt_2), -2 = .033 Thereare 110 observationsin theregression.The numbers in parenthesesare the quantities output as "standard errors"by the regressionprogram.On the basis of the resultsof Fuller,the statistic(n - p) (A - 1) (1 + 62)', of Yt-, and p is the numberof where Ais the coefficient parametersestimated, is approximatelydistributedas + a2)-' = and Model (5.1) assumes that it is knownthat no intercept entersthe modelifX1 is subtractedfromall observations. Model (5.2) permits an interceptin the model. The numbersin parenthesesare the "standard errors"output by the regressionprogram.For (5.1) we compute and -1)(1 T, = 106(-.119)(.502)-l = -25.1 (.033) '(-.119) = -3.61 Both statisticslead to rejectionof the null hypothesisof a unit root at the 5 percentlevel if the alternativehypothesisis that both roots are less than one' in absolute value. The Monte Carlo studyofSection 4 indicatedthat tests based on the estimated p were more powerfulfor tests against stationaritythan the T statistics. In this example the test based on Arejects the hypothesisat a smallersize (.025) than that of the T statistic (.05). [ReceivedNovember1976. RevisedNovember1978.] REFERENCES Anderson,TheodoreW. (1959), "On Asymptotic Distributions of Estimatesof Parametersof StochasticDifferenceEquations," AnnalsofMathematical Statistics, 30, 676-687. Box, GeorgeE.P., and Jenkins,GwilymM. (1970), Time Series AnalysisForecasting and Control, San Francisco:Holden-Day. Box, GeorgeE.P., and Pierce,David A. 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