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Contents
1 Introduction 1
1.1 Some Representative Time Series 1
1.2 Terminology 8
1.3 Objectives of Time Series Analysis 9
1.4 Approaches to Time Series Analysis 11
1.5 Review of Books on Time Series 12
vii
viii CONTENTS
3.6.1 Stationarity and autocorrelation function of an MA
process 48
3.6.2 Invertibility of an MA process 49
3.7 Autoregressive Processes 52
3.7.1 First-order process 53
3.7.2 General-order process 54
3.8 Mixed ARMA Models 59
3.8.1 Stationarity and invertibility conditions 60
3.8.2 Yule-Walker equations and autocorrelations 60
3.8.3 AR and MA representations 62
3.9 Integrated ARMA (or ARIMA) Models 63
3.10 Fractional Differencing and Long-Memory Models 64
3.11 The General Linear Process 69
3.12 Continuous Processes 69
3.13 The Wold Decomposition Theorem 70
5 Forecasting 115
5.1 Introduction 115
5.2 Extrapolation and Exponential Smoothing 117
5.2.1 Extrapolation of trend curves 118
5.2.2 Simple exponential smoothing 118
5.2.3 The Holt and Holt–Winters forecasting procedures 120
5.3 The Box–Jenkins Methodology 123
5.3.1 The Box-Jenkins procedures 123
5.3.2 Other methods 127
5.3.3 Prediction intervals 128
CONTENTS ix
5.4 Multivariate Procedures 135
5.4.1 Multiple regression 135
5.4.2 Econometric models 137
5.4.3 Other multivariate models 138
5.5 Comparative Review of Forecasting Procedures 138
5.5.1 Forecasting competitions 139
5.5.2 Choosing a non-automatic method 141
5.5.3 A strategy for non-automatic univariate forecasting 143
5.5.4 Summary 144
5.6 Prediction Theory 145
References 381
Index 395
Preface to the Seventh Edition
The first six editions of this book highlight basic concepts, models, and
methods in time series analysis, and have been used as a text for
undergraduate and graduate-level time series courses in many universities
during the past three decades. Although the previous editions successfully
introduce time series analysis in an accessible way, there is a small gap between
presenting time series theory and discussing its implementation, especially
given the fact that, recently, many statistical analyses can be easily carried
out with the aid of statistical software. I gradually realized this when I used the
sixth edition of the book for my time series courses during the past decade, and
felt that it would be much more convenient for both instructors and students
to have an introductory time series textbook that highlights not only basic
time series theory but the implementation of time series analysis as well.
Obviously, Chris Chatfield shared the same view with me. The concrete
idea of having this edition of the book arose in 2016 when Chris Chatfield
and Rob Calver, Executive Editor in Mathematics, Statistics, and Physics at
Taylor and Francis, asked me if I was interested in revising the sixth edition
of the book. By then, I had been teaching undergraduate and graduate-level
time series courses for over ten years, and had collected a set of examples on
real data analysis with R implementation, so I expressed my interest to both
Rob and Chris and started working on the new edition.
Similar to the sixth edition, this edition assumes knowledge of basic
probability theory and elementary statistical inference. As the sixth edition of
the book covers a broad range of topics at the introductory level, this edition
keeps most of the material from the sixth edition. However, several changes
are made in this edition. First, a new chapter (Chapter 12) and a new section
(Section 13.7) are added to introduce uni- and multi-variate volatility models
in finance, respectively. Necessary updates are also made in different chapters
and sections. Second, many examples and real data are added in this edition.
Specifically, I added examples of real data analysis in most chapters except for
Chapters 9 and 10. Third, all examples in the book are implemented with R,
and R codes for most examples are provided in the book so that the reader can
easily replicate the result. The data and scripts in the book are available at
http://www.ams.sunysb.edu/~xing/tsRbook/index.html.
I would like to thank Chris Chatfield for his invitation and authorization
for revising the book. I also thank all the students who took my time series
course for their interest in the subject and comments on the earlier draft
xiii
xiv PREFACE TO THE SEVENTH EDITION
of the book. Besides, I want to express my gratitude to my colleagues for
being supportive and helpful over the years. At last, I want to thank the
U.S. National Science Foundation for providing support for my research and
teaching during the past years. Any errors, omissions, or obscurities in this
edition are my responsibility.
Haipeng Xing
Department of Applied Mathematics and Statistics
State University of New York, Stony Brook
Stony Brook, NY 11794, U.S.A.
e-mail: [email protected]
Abbreviations and Notation
AR Autoregressive
MA Moving average
ARMA Autoregressive moving average
ARIMA Autoregressive integrated moving average
SARIMA Seasonal ARIMA
TAR Threshold autoregressive
GARCH Generalized autoregressive conditionally heteroscedastic
SWN Strict white noise
WN White noise
xv
Chapter 1
Introduction
Many time series are routinely recorded in economics and finance. Examples
include share prices on successive days, export totals in successive months,
average incomes in successive months, company profits in successive years
and so on.
The classic Beveridge wheat price index series consists of the average wheat
price in nearly 50 places in various countries measured in successive years
from 1500 to 1869 (Beveridge, 1921). This series is of particular interest to
economics historians, and is available in many places (e.g. in the tseries
package of R). Figure 1.1 shows this series and some apparent cyclic behaviour
can be seen. The trend of the series will be studied in Section 2.5.2.
To plot the data using the R statistical package, you can load the data bev
in the tseries package and plot the time series (the > below are prompts):
As an example of financial time series, Figure 1.2 shows the daily returns
(or percentage change) of the adjusted closing prices of the Standard & Poor’s
500 (S&P500) Index from January 4, 1995 to December 30, 2016. The data
shown in Figure 1.2 are typical of return data. The mean of the return series
seems to be stable with an average return of approximately zero, but the
volatility of data changes over time. This series will be analyzed in Chapter 12.
1
2 INTRODUCTION
300
Wheat price index
200
100
0
Year
Figure 1.1 The Beveridge wheat price annual index series from 1500 to 1869.
10
5
Daily return
0
−5
Figure 1.2 Daily returns of the adjusted closing prices of the S&P500 index from
January 4, 1995 to December 30, 2016.
SOME REPRESENTATIVE TIME SERIES 3
To reproduce Figure 1.2 in R, suppose you save the data as
sp500 ret 1995-2016.csv in the directory mydata. Then you can use the
following command to read the data and plot the time series.
> sp500<-read.csv("mydata/sp500_ret_1995-2016.csv")
> n<-nrow(sp500)
> x.pos<-c(seq(1,n,800),n)
> plot(sp500$Return, type="l", xlab="Day",
ylab="Daily return", xaxt="n")
> axis(1, x.pos, sp500$Date[x.pos])
10
Average temperature
0
−10
−20
Figure 1.3 Monthly average air temperature (deg C) in Anchorage, Alaska, the
United States, in successive months from 2001 to 2016.
10000
Sales in thousand liters
8000
6000
4000
Month
Figure 1.4 Domestic sales (unit: thousand liters) of Australian fortified wine by
winemakers in successive quarters from March 1985 to June 2014.
SOME REPRESENTATIVE TIME SERIES 5
3.0e+08
Population
2.4e+08
1.8e+08
Figure 1.5 Total population and birth rate (per 1,000 people) for the United States
from 1965 to 2015.
Process variable
Target value
Time
Binary processes
A special type of time series arises when observations can take one of only two
values, usually denoted by 0 and 1 (see Figure 1.7). For example, in computer
science, the position of a switch, either ‘on’ or ‘off’, could be recorded as one
or zero, respectively. Time series of this type, called binary processes, occur
in many situations, including the study of communication theory. A problem
here is to predict when the process will take a different value. One way to
solve this problem is to use regime-switching models, which will be discussed
in Chapter 11 (Section 11.6).
SOME REPRESENTATIVE TIME SERIES 7
0
Time
Point processes
A completely different type of time series occurs when we consider a series of
events occurring ‘randomly’ through time. For example, we could record the
dates of major railway disasters. A series of events of this type is usually
called a point process. As an example, Figure 1.8 shows the intraday
transaction data of the International Business Machines Corporation (IBM)
from 9:35:00 to 9:38:00 on January 4, 2010. When a trade event occurs, the
corresponding trading price and trading volume are observed. However, trades
do not occur equally spaced in time; hence time intervals between trades (or
trade durations) are considered as random variables. For observations of this
type, we are interested in such quantities as the distribution of the number
of events occurring in a given time period and distribution of time intervals
between events. Methods of analysing point process data are generally very
different from those used for analysing standard time series data and the
reader is referred, for example, to Cox and Isham (1980).
To reproduce Figure 1.8 in R, you can use the following command to read
the data and plot the time series.
> ibm<-read.table("mydata/taq_trade_ibm_100104.txt",
header=T, sep="\t")
> ibm.new<-ibm[,c(1,2,7)]
> ibm[,2]<-as.numeric(as.character(ibm[,2]))
132.0
131.8
Price
131.6
Figure 1.8 Transaction prices and volumes of IBM stocks from 9:35:00 to 9:38:00
on January 4, 2010.
newtime[i]<- (min-30)*60+sec
}
1.2 Terminology
A time series is said to be continuous when observations are made
continuously through time as in Figure 1.7. The adjective ‘continuous’ is
used for series of this type even when the measured variable can only take
a discrete set of values, as in Figure 1.7. A time series is said to be discrete
when observations are taken only at specific times, usually equally spaced.
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GEORG FRIDERIC
HANDEL
(Born at Halle, February 23, 1685; died at London, April 14, 1759)
“Mr. Georg Frideric Handel,” Mr. Runciman once wrote, “is by far the
most superb personage one meets, in the history of music. He
alone, of all the musicians, lived his life straight through in the grand
[29]
manner.” When Handel wrote “pomposo” on a page, he wrote not
idly. What magnificent simplicity in outlines!... For melodic lines of
such chaste and noble beauty, such Olympian authority, no one has
approached Handel. “Within that circle none durst walk but he.” His
nearest rival is the Chevalier Gluck.
No. 1, in G major
No. 2, in F major
No. 3, in E minor
No. 4, in A minor
No. 5, in D major
No. 6, in G minor
No. 7, in B flat major
No. 8, in C minor
No. 9, in F major
No. 10, in D minor
No. 11, in A major
No. 12, in B minor
The year 1739, in which these concertos were composed, was the
year of the first performance of Handel’s Saul (January 16) and
Israel in Egypt (April 4)—both oratorios were composed in 1738—
also of the music to Dryden’s Ode for St. Cecilia’s Day (November
22).
154
FRANZ JOSEF
HAYDN
(Born at Rohrau, Lower Austria, March 31, 1732; died at Vienna,
May 31, 1809)
LONDON SYMPHONIES
SYMPHONY NO. 104, IN D MAJOR (B. & H. NO. 2)
I. Adagio; allegro
II. Andante
III. Menuetto; trio
IV. Allegro spiritoso
The first of the Salomon-Haydn concerts was given March 11, 1791,
at the Hanover Square Rooms. Haydn, as was the custom, “presided
at the harpsichord”; Salomon stood as leader of the orchestra. The
symphony was in D major, No. 2, of the London list of twelve. The
adagio was repeated, an unusual occurrence, but the critics
preferred the first movement.
The orchestra was thus composed: twelve to sixteen violins, four
violas, three violoncellos, four double basses, flute, oboe, bassoon,
horns, trumpets, drums—in all about forty players.
Haydn and Salomon left Vienna on December 15, 1790, and arrived
at Calais by way of Munich and Bonn. They crossed the English
Channel on New Year’s Day, 1791. From Dover they traveled to
London by stage. The journey from Vienna took them seventeen
days. Haydn was received with great honor.
Haydn left London towards the end of June, 1792. Salomon invited
him again to write six new symphonies. Haydn arrived in London,
February 4, 1794, and did not leave England until August 15, 1795.
The orchestra at the opera concerts in the grand new concert hall of
the King’s Theatre was made up of sixty players. Haydn’s
engagement was again a profitable one. He made by concerts,
lessons, symphonies, etc., £1,200. He was honored in many 157
ways by the King, the Queen, and the nobility. He was
twenty-six times at Carlton House, where the Prince of Wales had a
concert room; and, after he had waited long for his pay, he sent a
bill from Vienna for 100 guineas, which Parliament promptly settled.
LONDON SYMPHONIES
SYMPHONY NO. 94, IN G MAJOR, “SURPRISE” (B. & H. NO.
6)
Composed in 1791, this symphony was performed for the first time
on March 23, 1792, at the sixth Salomon concert in London. It
pleased immediately and greatly. The Oracle characterized the
second movement as one of Haydn’s happiest inventions, and
likened the “surprise”—which is occasioned by the sudden orchestral
crash in the andante—to a shepherdess, lulled by the sound of a
distant waterfall, awakened suddenly from sleep and frightened by
the unexpected discharge of a musket.
I. Adagio; allegro
II. Largo
III. Menuetto; trio
IV. Finale; allegro con spirito
III. The Menuetto, allegretto, G major, 3-4, with trio, is in the regular
minuet form in its simplest manner.
IV. The finale, allegro con spirito, G major, 2-4, is a rondo on the
theme of a peasant country dance, and it is fully developed. Haydn
in his earlier symphonies adopted for the finale the form of his first
movement. Later he preferred the rondo form, with its couplets and
refrains, or repetitions of a short and frank chief theme. “In some
[33]
finales of his last symphonies,” says Brenet, “he gave freer reins
to his fancy, and modified with greater independence the form of his
first allegros; but his fancy, always prudent and moderate, is more
like the clear, precise arguments of a great orator than the headlong
inspiration of a poet. Moderation is one of the characteristics of
Haydn’s genius; moderation in the dimensions, in the sonority, in the
melodic shape; the liveliness of his melodic thought never 160
seems extravagant, its melancholy never induces sadness.”
161
PAUL
HINDEMITH
(Born at Hanau, on November 16, 1895)
“KONZERTMUSIK” FOR STRING AND BRASS
INSTRUMENTS
164
ARTHUR
HONNEGER
(Born at Havre, France, on March 10, 1892)
“PACIFIC 231,” ORCHESTRAL MOVEMENT
Pacific 231 is scored for piccolo, two flutes, two oboes, English horn,
two clarinets, bass clarinet, two bassoons, double bassoon, four
horns, three trumpets, three trombones, bass tuba, snare drum,
bass drum, cymbals, tam-tam, strings.
166