Econometrics Week - Time Series Flashcards

1
Q

first difference

A

change in value of Y between period t-1 and period t is Yt-Yt-1

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2
Q

lagged value

A

the value of Y in the previous period relative to hte current period, t: Yt-1

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3
Q

why do we often use logs in economic time series?

A
  • many economic series exhibit growth that is approx. exponential; that is, over the long run, the series tends to grow by a certain percentage per yer on average. This implies that the log of the series grows approx. linearly
  • another reason is that the sd of many economic time series is approx. proportional to its level; that is, the sd is well expressed as a percentage of the level of the series- This implies that the sd of the log of the series is approx. constant
  • In either case, it is useful to transform the series so that changes in the transformed series are proportional changes in the origina series, and this is acihieved by log
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4
Q

autocorrelation and autocovariance

A
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5
Q

stationarity

A
  • background: time series forecasts use data on the past to forecast the future. doiig so presumes that the future is similar to the past in the sense that the correlations, and more generally the distributions of the data in the future will be like they were in the past. If this wasn’t true, then historical relationships would likely not be reliable forecasts of the future
  • definition: probability distribution of the time series variable does not change over time. Under the assumption of stationarity, regression models estimated using past data can be used to forecast future values
  • In other words: stationarity holds when the joint distribution of (Ys+1,…,Ys+T) does not depend on s
  • In other words, (Y1, Y2,…,YT) are identically distributed, however, they are not necessarily independent!
  • reasons for non-stationarity:
    • unconditional mean might have a trend, e..g US GDP has a persistent upwrad trend, reflecting long-term economic growth
    • population regression coefficients change at a given point in time
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6
Q

mean squared forecast error

A
  • because forecast errors are inevitable (future is unknown), aim is not to eliminate errors but to make them as small as possible–>MSFE = E[YT+1 - YhatT+1|T)2] (the T+1|T means that the forecast is of the value of Y at time T+1 made using data up until T)
    • the MSFE is the expected value of the square of the forecast error
  • the root mean squared forceast error (RMSFE) is the square root of the MSFE. Same units as Y
  • if the forecase is unbiased, forecast errors have a mean of 0 and the RMSFE is the sd of the out-of-sample forecast
  • large forecast erors often more costly than small ones; series of small forecast errors often only causes minor prolem, but big one can call entire forecast into question
  • MSFE incorporates two sources of randomness
    • randomness of future value, YT+1
    • randomness arising from estimating forecast model
    • by adding and subtracting muy, if YT+1 is uncorrelated with muhaty, the MSFE can be written as MSFE = E[YT+1-muy)2] + E[muhaty-muy)2]; the first expression is the error the forecaster would make if the population mean were known; this captures the random future fluctuations in YT+1 around the population mean; the second term is the additional error made because the population mean is unknown, so forecaster must estimate it
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7
Q

autoregression

A

expresses the conditional mean of a time series variable Yt as a linear funciton of its own lagged values. A first-order autoregression uses only one lag of Y in this conditional expectation: E(Yt|Yt-1, Yt-2…)=beta0 + beta1Yt-1; the populatin coefficients can be setimated by OLS

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8
Q

autoregressive distributed lag model

A
  • autoregressive because lagged values of the dependent variable are inclded as regressors, as in an autoregression, and distributed lag because the regression also includes multiple lags of an additional predictor. In genera, an ADL model with p lags of the dependent variable Yt and q lags of an additional predictor Xt is called an ADL(p,q) model
  • Yt = beta0 + beta1Yt-1 + beta2Yt-2 + … + betapYt-p + delta1Xt-1 + delta2Xt-2 + … + deltaqXt-q + ut
  • the assumption hta the errors in the ADL model have a conditional mea of 0 given all past values of Y and X, that is, that E(ut|Yt-1, Yt-2,…,Xt-1, Xt-2,…)=0 implies taht no additional lags of eiher Y or X belong in the ADL mode. In other words, the lag lenghts p and q are the true lag lengths adn the coefficients on additional lags are 0
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9
Q

least squares assumptions for forecasting with time series data

A
  • Yt = beta0 + beta1Yt-1 + beta2Yt-2 + … + betapYt-p + delta1Xt-1 + delta2Xt-2 + … + deltaqXt-q + ut
  • E(ut|Yt-1, Yt-2, …, Xt-1, Xt-2, …)=0
    • u has a conditional mean of 0 given the history of all the regressors
  • the random variables (Yt, Xt) have a stationary distribution and (Yt, Xt) and (Yt-j, Xt-j) become independent as j gets large
    • stationary: so that the distibution of the time series today is the same as its distribution in the past. This assumption is a time series version of the identically distributed part of the i.i.d asssumption: the cross-sectional requirement of each draw being identically distrubiuted is replaced by the time series requirement that the joint distribution of the variables including lags, not change over time. If the time series variables are nonstationary, then one or more problems can arise in time series regression, including biased forecasts
      • assumption of stationarity implies taht the conditional mean for the data used to estimate the model is also the conditional mean for the out-of-sample observation of interest. Thus, the assumption of stationarity is also an assumption about external validity and it plays a role in the first least squares assumption for prediction
    • 2nd assumption is sometimes referred to as weak dependence, and it ensures that in alrge samples there is sufficient randomness in the data for the law of large numbers and the central limit theorem to hold
      • this replaces the cross-sectional reuqirement htat the variables be independently distributed from one observation to the next with the time series requirement that htey be independently distributed when they are separated by long periods of time
  • large outliers are unlikely, i.e. Xt,…,Xkt and Yt have nonzero, finite fourth moments
  • there is no perfect multicollinearity
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10
Q

estimating the MSFE method 1: by SE of the regression

A
  • focuses only on future uncertainty and ignores uncertainty associated with estimation of the regression coefficients
  • attachment
  • because the variance of the OLS estimator is proportional to 1/T, the 2nd term in the equation is proportional to 1/T. Consequently, if the number of observations T is large relative to the number of autoregressive lags p, then the contribution of the 2nd term is small relative to the first term. That is, if T is large relative to p, simplifies to the approximation MSFE=sigmau2 This simplification suggests estimating the MSFE by MSFESER = suhat2, where suhat2 = SSR/(T-p-1), where SSR is the sum of squared residuals of the autoregression. The statistic Suhat2 is the square of the SE of the regression (SER)
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11
Q

estimating the MSFE method 2: by the final prediction error

A
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12
Q

estimating the MSFE method 3: by pseudo out-of-sample forecasting

A
  • uses data to stimulate out-of-sample forecasting. Divide data set into two parts: Initial estimation sample is used to estimate the forecasting model, which is then used to forecast 1st observation in the reserved sample. Next, estimation sample is augmented by 1st observation in reversed sample, and the model is reestimated and is used to forecast the 2nd observation in the reversed sample. This procedure is repeated until the forecast is made of the final observation in the reserved sample and produces P forecasts and thus P forecast errors. Those P forecast errors can then be used to estimate the MSFE. This method of estimating a model on a subsample of the data and then using that model to forecast on a reserved sample is called pseudo out-of-sample forecasting: out of sample because the observations being forecasted were not used for model estimation but pseudo because the reserved data are not truly out-of-sample observations.
  • Compared to squared SER estimate from method 1, and final prediction error estimate in method 2, the pseudo out-of-sample estimate in this equation has both advantages and disadvantages.
    • advantages: does not rely on the assumption of stationarity, so that the conditional mean might differ between the estimation and the reserved samples. E.g. coefficients of the autoregression need not be the same in the two samples, and the pseudo out-of-sample forecast error need not have mean 0. Thus, any bias in the forecast arising because of a change in coefficients will be captured by MSFEPOOS but not by the other two estimators.
    • Disadvantages: more difficult to compute: estimate of MSFE will have greater sampling variability than the other two estimates if Y is, in fact, stationary (because the estimate of MSFEPOOS uses only P forecast errors); requires choosing P. The choice of P entails a trade-off between the precision of the coefficient estimates and the # of observations available for estimating the MSFE. In practice, choosing P to be 10% or 20% of the total number of observations can provide a reasonable balance between these two considerations.
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13
Q

forecast uncertainty and forecast intervals

A
  • In any estimation, it is good practice to report a measure of uncertainty. One measure of uncertainty of a forecast is its RMSFE. Under the additional assumption that the errors ut are normally distributed, the estimates of RMSFE can be used to construct a forecast interval that contains the future value of the variable with a certain probability
  • One important difference between forecast interval and CI: usual formula for 95% CI (estimator±1.96 SE) is justified by the central limit theorem and therefore holds for a wide range of distributions of error term. In contrast, because forecast error include the future value of the error, computing a forecast interval requires either estimating the distribution of error term or making some assumption about that distribution.
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14
Q

estimating lag length using information criteria - intro

A
  • how many lags to include in a time series regression? Choosin order p of an autoregression requries balancing MB of including more lags against MC of additional estimation error.
  • If the order of an estimated autoregression is too low, you will omit potentially valuable information. If too high, you will be estimating more coefficients than necesary, which in turn introduces additional estimation error into your forecasts
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15
Q

determining the order of an autoregression - F-statistic approach

A

start with a model with many lags and perform hypothesis tests on the final lag. If not significant, drop it and estimate the next lag. The drawback to this method is that it will tend to produce large models

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16
Q

determining the order of an autoregression - BIC

A
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17
Q

determining the order of an autoregression - AIC

A
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18
Q

lag length selection in time series regression with multiple predictors

A
  • tradeoff involved lag length choice here similar to that in an autoregression: using too few lags can decrease forecast accuracy because valuable information is lost, but adding lags increases estimation error.
  • F-statistic approach: one way to determine the # of lags is to use F-statistic to test join hypotheses that sets of coefficients are 0. In general, th F-statistic method can roduce models that are large and thus have considerable estimation error.
  • Information criteria: If the regression model has K coefficients (incl. intercept), BIC(K) = ln(SSR(K)/T) + K(ln(T)/T). The AIC is defined the same way, but with 2 instead of ln(T). The model with the lowest value of BIC is preferred.
    • two important considerations when using information criterion to estimate lag lengths
      • as in case for autoregression, all candidate models must be estimated over same sample - the number of observations used to estimated the model, T, must be the same for all models
      • when ther are multiple predictors, this approach is computationally demading because it requires computing many different models (many combinations of lag parameters). In practice, convenient shortcut is to require all regressors to have the same # of lags, that is to require that p=q1=…=qK so taht only pmax + 1 models need to be compared
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19
Q

Topics of this course

A
  • Introduction: time series, lags and rst dierences, logarithms and growth rates
  • Autocorrelation
  • Stationarity
  • Dynamic models for forecasting: autoregressive model, autoregressive distributed lag model (ADL), vector autoregressive model (VAR)
  • Model selection in dynamic models
  • Forecasting
  • Dynamic models for analyzing structural relationships
  • Interpretation of regression coecients in dynamic models
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20
Q

Total number of observations equals T: usually T << N, but depends on the frequency

A

why? look up

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21
Q

what can time series regression models be used for?

A
  • estimating dynamic causal effects
  • forecasting
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22
Q

OLS assumptions in time series

A
  • OLS assumptions
    • E(ui|X1i,X2i,…,Xki) = 0
    • (Yi,X1i,X2i,,…,Xki) i.i.d.
    • Large outliers are unlikely
    • No exact linear relation between X1i, X2i,…, Xki or no perfect multicollinearity
  • Questions:
    • Are these assumptions realistic in a time series reflecting e.g. a business cycle? Likely to have serially correlated errors since ut depends on ut-1. This causes heteroskedasticity, and violates the i.i.d. assumption. Inconsistent but unbiased.
    • What is the consequence of heteroskedasticity?
    • What is the consequence of serial correlation?
    • What is the relevance of the fourth assumption?
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23
Q

logarithms and growth rates

A
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24
Q

sample autocorrelation

A
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25
Q

AR(1) variance

A
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26
Q

AR(1) - two different specifications

A
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27
Q

when might stationarity not hold?

A
  • one reason stationarity might not hold is that the unconditional mean might have a trend, e.g. US GDP has a persistent upward trend, reflecting long-term growth
  • another type of nonstationarity arises when the population regression coefficients change at a given point in time
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28
Q

What is the relevance of a(n) (asymptotically) normal distributed OLS-estimator?

A

needed for testing; lecture question, maybe see if more comprehensive answer

29
Q

two important dynamic models for estimating structural / causal relationships

A
  • Partial adjustment model (slide 37)
  • Error correction model (Exercise 1 Canvas)
30
Q

difference static vs dynamic model?

A
  • Consider the simple linear regression model with time series data
  • Yt = beta0 + beta1Zt + ut; t = 1,…,T
  • Static model: Zt is a genuine explanatory variable (not a lag)
  • Dynamic model: Zt is a lagged regressor
    • Lagged value of explanatory variable X (e.g. Xt-1)
    • Lagged value of dependent variable Y (e.g. Yt-1)
  • Autoregressive economic dynamics often caused by
    • Delayed response
    • Adjustment costs
    • example: Yt = beta0 + beta1Zt + ut; consider e.g. measuring wage (X) elasticity of labor demand (Y)
    • Zt = Xt-1 because employers respond slowly to wage changes
    • Zt = Yt-1 because rms face adjustment costs in hiring/ring employees
  • Resulting empirical model may be Yt = beta0 + beta1Yt-1 + beta2Xt-1 + ut
31
Q

AR, ADL, VAR models

A

pth order autoregressive model (AR(p))

  • Explanation of current value Yt by p lagged values
  • Popular way of describing dynamic economic behavior; used, e.g. for modeling the evolution over time of company profits or firm size
  • Useful starting point for developing models for forecasting e.g. inflation or interest rates

Autoregressive distributed lag (ADL) models

  • Uses past information of additional regressor (predictor) Xt to forecast dependent variable
  • Possibility to test predictive content of additional regressor X; testing H0 : delta1 = 0,…,deltaq = 0 is labeled Granger causality test
  • Note: Xt is ruled out in (14.19/15.18) but sometimes included (see e.g. slide 36)

Vector autoregressive (VAR) models

  • Jointly modeling of Yt and Xt based on only past information of both variables
  • Separate equations are ADL(p,p) models
  • Note: restriction on p (2x)
32
Q

OLS asumptions ADL model

A
  • Assumption #1 implies that error term ut is not autocorrelated, i.e. cov(ut,ut-j) = 0
  • Assumption #2 replaces the i.i.d. assumption made so far. Weak dependency implies that (Yt, Xt) and (Yt-j, Xt-j) become independent as j grows large; in other words, remote observations become independent
  • Regarding VAR models these assumptions should apply equation by equation
  • Extension to models with multiple X’s straightforward
33
Q

Weak independence in AR(1)

A
34
Q

How to select p and q, the number of lags of the dependent and explanatory variables in ADL models?

A

Two different approaches:

  • General to specific
    • Start with a large enough choice for p and q in order to be sure that the error term is not autocorrelated
    • Check if some of the lags have a low t-statistic, and delete those step by step
    • Stop when all regressors are significant; test with an F test the joint signicance of the omitted dynamic terms
  • Model selection criteria:
    • Akaike Information Criterium (AIC)
    • Bayes Information Criterium (BIC)
35
Q

AIC or BIC?

  • What can you say about the relative magnitude of the AIC and BIC?
  • Which one is more conservative?
  • Are there any theoretical arguments in favour of AIC or BIC?
A
  • Selecting the number of lags of dependent and explanatory variables can be done through an F-test or through the information criteria of Akaike and Bayes, where the lowest lag outcome is preferred. Since ln(T)>2, BIC is preferred over AIC
36
Q

Forecast error

A
37
Q

alternative way to estimate forecast error (MSFE)

A
38
Q

partial adjustment model

A
39
Q

interpretation of regression coefficients

A
  • Yt = beta0 + beta1Yt-1 + delta0Xt + delta1Xt-1 + ut
  • Static model (beta1 = delta1 = 0): immediate and full adjustment to the newequilibrium value within one period
  • Dynamic model: adjustment from one equilibrium state to another over more than one period
  • Dynamic models imply a whole pattern of effects
  • Start and end points are short- and long-run effects
40
Q

short- and long-run effects

A
41
Q

Topics - (non-)stationary time series

A
  • Types of nonstationarity
    • Trend
    • Structural break
    • Volatility (i.e. var (Yt ) constant?)
  • Trends
  • deterministic
  • stochastic
  • Random walk model
    • nonstationarity
    • unit root
  • Detecting stochastic trends
    • autocorrelations
    • unit root test
  • Consequences for OLS
    • non-normality
    • spurious regression
  • Cointegration
    • common trends
    • testing
    • estimation
    • (V)ECM
42
Q

Trends

A
  • Trend is persistent long-term movement of a variable over time
  • Actual time series data often uctuate around a trend
  • A priori not clear how to model trends
  • two types of trends
    • deterministic: nonrandom function of time, e.g. a detmerinistic trend might be linear in time
    • stochastic: random and varies over time, e..g might exhibit a prolonged period of increase followed by a prolonged period of decrease; stochastic often more appropriate
43
Q

Stochastic vs deterministic trends - forecasting

A
44
Q

random walk

A
  • a time series Yt is said to follow a random walk if change in Y is i.i.d., hat is if Yt=Yt-1+ut where ut is i.i.d.
  • basic idea: value of series tomorrow is value of today plus unpredictable change
  • conditional mean of Yt based on data through time t-1 is Yt-1; that is, because E(ut|Yt-1,Yt-2,…)=0, E(Yt|Yt-1,Yt-2,…)=Yt-1 in other words, if Yt follows a random walk, then the best forecast of tomorrow’s value is its value today
  • if Y follows a random walk, its variance increases over time; because it does not have a constant variance, a random walk is nonstationary
  • random walk with a drift: sometimes have an obvious upward tendency, in which case the forecast must include an adjustment for the tendency of the series to increase
    • E(ut|Yt-1,Yt-2,…)=0
    • best forecast of tomorrow is Y today + drift
45
Q

random walk vs deterministic trend

  • What is the dierence between a stochastic and a deterministic trend?
  • Calculate Var (Yt) in both models.
A
46
Q

random walk model - unit root

A
47
Q

detecting stochastic trends

A
  • Inspect sample autocorrelations: typically they tend to be very close to 1 in case of a stochastic trend
  • Unit root test
48
Q

Lecture 2 question 2

A
49
Q

unit root test

A
50
Q

trend-stationarity

A
51
Q

Lecture 2 question 3: testing for stationarity

A

nachschauen

52
Q

consequences for OLS estimation - OLS estimator biased

A
  • In case of stationary time series we have seen that OLS estimators are consistent and in large samples approximately normally distributed
  • However, when we have stochastic trends OLS based inference breaks down:
    • OLS estimator biased
      • Because of the nonstationarity the basic assumption of OLS do not hold (Key concept 14.6/15.6)
      • In general there is a bias and the asymptotic distribution is no longer the normal distribution; estimate of autoregressive coefficint is biased towrads 0 (downward biased); this non-normal distribution means that conventional CIs are not valid and hypothesis tests cannot be conducted as usual
      • the downward bias of OLSestimator poses problem for forecasts: if the coefficient in an AR(1) model of the conditional mean is 1 (a unit root), then the OLS estimator willtend to take on a value less than 1, and its samplingdistribution has a mean that is less than 1
  • t distributions are no longer approximately N(0; 1)
  • Risk of spurious regressions
53
Q

consequences for OLS estimation - t distributions are no longer approximately N(0; 1)

A
  • In case of stationary time series we have seen that OLS estimators are consistent and in large samples approximately normally distributed
  • However, when we have stochastic trends OLS based inference breaks down:
    • OLS estimator biased
    • t distributions are no longer approximately N(0; 1)
    • Risk of spurious regressions
54
Q

consequences for OLS estimation - risk of spurious regressions

A
  • In case of stationary time series we have seen that OLS estimators are consistent and in large samples approximately normally distributed
  • However, when we have stochastic trends OLS based inference breaks down:
    • OLS estimator biased
    • t distributions are no longer approximately N(0; 1)
    • Risk of spurious regressions
55
Q

Lecture 2 question 4: regression output

A

no setting is given so more information and economic theory is needed; data shows deterministic trend

56
Q

cointegration

A

Examples:

  • Permanent income hypothesis implies cointegration between consumption and income
  • Money demand models imply cointegration between money, income, prices and interest rates
  • Purchasing power parity implies cointegration between nominal exchange rate and foreign and domestic prices
  • Covered interest rate parity implies cointegration between forward and spot exchange rates
  • Growth theory implies cointegration between GDP per capita, investment rate and population
  • Fisher equation implies cointegration between nominal interest rates and in
  • Expectations hypothesis of the term structure implies cointegration between nominal interest rates at different maturities
  • Present value model of stock prices states that a stock’s price is expected discounted present value of its expected future dividends or earnings
57
Q

testing for cointegration

A
58
Q

estimation of cointegrating relations

A
59
Q

error correction model

A
60
Q

Explain why 0 < gamma < 2 in the error correction model? What if this does not hold? That is: What is the problem? How do you deal with this problem?

A
61
Q

estimation ECM

A
62
Q

vector-error correction model

A
63
Q

properties of the forecast and error term in the AR(p) model

A
  • assume that E(ut|Yt-1, Yt-2,…)=0 - has two important implications
    • implies that best forecast of YT+1 based on its entire history depends on only the most recent p past value. Specifically, let YT|T+1=E(YT+1|YT,YT-1) denote the conditional mean of YT+1 given its entire history
64
Q

avoid problems caused by stochastic trends

A

most reliable way to handle trend in a series is to transform the series sothat it does not have the trend; if a series has a stocahstic trend, then its difference does not, e.g. if Yt=beta0+Yt-1+ut, then großdeltaYt=beta0+ut is stationary

65
Q

testing for a break at a known date

A
  • if the date of the break in the coefficients is known, then the null hypothesis of no break can be tested using binary variable interaction regression
  • consider ADL(1,1) model: Yt=beta0+beta1Yt-1+delta1Xt-1+gamma0Dt(tau) + gamma1[Dt(tau)*Yt-1] + gamma2[Dt(tau)*Xt-1] + ut
  • if thre is no break, then the population regression function is te same over both parts of the sample, so the terms involving the break binary variable Dt(tau) do not enter tje equation above. That is, under the null hypothesis of no break, gamma0 = gamma1 = gamma2=0. Under the alternative hypothesis that there is a break, the population regression function is different before and after the break data tau, in wchih case at least one of the gamma’s is nonzero.Thus the hypothesis of a break can be tested using the F-statistic that tests the hypothesis that gamma0 = gamma1 = gamma2=0 against the hypothesis that at least one of the gamma’s is nonzero.
  • This approach can be modified to check for abreak iun a subset of the coefficients by including only the binary variable interactions for that subset of regressors of interest.
66
Q

testing for a break at an unknown date

A
  • could for example suspoect that a break occured sometime between two dates; test for known date can be extended to handle this situation by testing for breaks at all possible dates tau between tau0 and tau1 and then using the largest F-statistics to test for a break at an unknown date
  • since the statistic is the largest of many F-statistic, its distribution is not the same as an individual F-statistic. Instead, the ciritical values for the statistic must be obtained from a special distribution. like the F-statistic, the distribuion depends on the number of restrictions being tested, q - that is, the number of coefficients (including the intercept) that are being allowed to break, or change, under the alternative hypothesis. The distriution of the statistic also depends on tau0/T and tau1/T - that is, on the endpoints tau0and tau1 of the subsample over which the F-statistics are computed, expressed as a fraction of the total sample size
  • for the large-sample approximation to the distribution of the statistic to be a good one, the subsample endpoints cannot be too close to the beginning or the end of the sample; thus statistic computed over a trimmed range, or subset, of sample
  • if the statistic rejects the null hypothesis, it can mea nthat there is asingle discrete break, that there are multiple breaks, or that there is a slow evolution of the regression function
67
Q

avoiding the problems caused by breaks

A

if a distinct break occurs at a specfic date, that break will be detected with high probabiloityby the QLR statistic, and the break date can be estimated. The regression function can then be reestimated using a binary variable indicating the two subsamples associated wth this break and including interactions with the other regressors as appropriate. IF all the coefficients break, then this simplifies to reestiamting the regression using the post-break data. If there is in fact a distinct brealk, then subsequent inference on the regresio coefficients can proceed as usual - e.g. using normal critical values for hypothesis tests based on t-statistics.

68
Q

summary card chapter 15

A

copy from pdf