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Unobserved
Components and
Time Series
Econometrics
Edited by
Siem Jan Koopman
and Neil Shephard
1
OUP CORRECTED PROOF – FINAL, 15/10/2015, SPi
3
Great Clarendon Street, Oxford, OX2 6DP,
United Kingdom
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© Oxford University Press 2015
The moral rights of the authors have been asserted
First Edition published in 2015
Impression: 1
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Published in the United States of America by Oxford University Press
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Links to third party websites are provided by Oxford in good faith and
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OUP CORRECTED PROOF – FINAL, 15/10/2015, SPi
CON TE N TS
LIST OF FIGURES ix
LIST OF TABLES xv
1 Introduction 1
Siem Jan Koopman and Neil Shephard
1.1 An overview of the volume 1
1.2 Andrew Harvey’s main contributions 5
vi Contents
Contents vii
11 More is not always better: Kalman filtering in dynamic factor models 250
Pilar Poncela and Esther Ruiz
11.1 Introduction 250
11.2 Dynamic factor model 252
11.3 Known parameters: filtering uncertainty 253
11.4 Estimated parameters 262
11.5 Conclusions 266
11.6 Appendix: Proof of Lemmas 267
viii Contents
BIBLIOGRAPHY 349
INDEX 369
OUP CORRECTED PROOF – FINAL, 15/10/2015, SPi
LIST OF FIGURES
3.1 U.S. GDP deflator inflation and unemployment rates, quarterly, 1960Q1
to 2011Q3 20
3.2 Posterior mean and 95% interval of time-varying variances of
innovations 21
3.3 Posterior mean and 95% interval of time-varying variances of
innovations 22
3.4 Posterior mean and 95% interval of unobserved components 23
3.5 Posterior mean and 95% interval of unobserved components 24
3.6 Full-sample posterior and diffuse prior distributions of parameters 25
3.7 Slope of the Phillips curve κ for (πt − τ ) and 95% interval 26
4.1 Total return to two ETFs tracking the MSCI Emerging Markets index
(Bloomberg ticker NDUEEGF) 34
4.2 Cumulative outperformance (λ̃t in the notation used in the text) of the
Vanguard (VWO) and iShares (EEM) emerging markets ETFs 39
4.3 Smoothed state variable exp (ht /2). The plot shows the median of the
distribution of the MCMC draws 41
4.4 Smoothed state variable exp (ht /2). The chart shows the median and 10%
and 90% quantiles of the distribution of the MCMC draws 42
5.1 G-6 industrial production, January 1958 to December 2011 53
5.2 Dynamic total connectedness, G-6 industrial production, January 1958
to December 2011 58
5.3 Dynamic total connectedness, G-6 industrial production, January 2000
to December 2011 59
5.4 Robustness of estimated dynamic total connectedness to VECM
specification 61
5.5 Robustness of estimated dynamic total connectedness to window width,
forecast horizon, and VECM identification 63
5.6 Dynamic directional connectedness, “to,” “from,” and “net” 64
5.7 Total connectedness as assessed using country factors vs. industrial
production 67
6.1 Climatic time series 73
6.2 Filters wj and frequency response functions B(eiλ ) of Butterworth filters 75
OUP CORRECTED PROOF – FINAL, 15/10/2015, SPi
x List of Figures
List of Figures xi
L I S T O F TA B L E S
14.6 LM test and standard t-tests for GARCH(1,1): True β = 0, T = 1000 326
15.1 Values of the two information criteria for values of k 340
15.2 SpARMA(λ, 1, 1) model. Estimated AR and MA coefficients,
prediction error variance, predictability and interpolability measures 341
OUP CORRECTED PROOF – FINAL, 15/10/2015, SPi
OUP CORRECTED PROOF – FINAL, 15/10/2015, SPi
1 Introduction
Siem Jan Koopman and Neil Shephard
INTRODUCTION 3
INTRODUCTION 5
The final chapter concerns generalized linear spectral models. Proietti and
Luati study parametric spectrum estimators for a generalized linear model for
exponential random variables with, power link. They point out that Whittle
estimation of the coefficients is unfeasible but that estimation based on an
ARMA representation for the power transformation of the spectrum can be
easily carried out by maximizing the Whittle likelihood. In a standard fash-
ion, information criteria can be used for the selection of a spectral model.
In their first illustration they deal with the Box-Jenkins Series A and estimate
the inverse autocovariance function. In their second illustration they study the
quarterly growth rate of U.S. gross domestic product for the extraction of the
business cycle.
Finally, we would like to thank various colleagues for refereeing the papers
in this volume. The conference on which this volume is based was supported
by the Bank of England, the Oxford-Man Institute, and the Journal of Applied
Econometrics. We are very grateful for this.
1.2.1 BOOKS
• The Econometric Analysis of Time Series, 1981, Deddington: Philip Allan.
Second edition, 1990. German translation, Oldenbourg Verlag, 1994.
Chinese translation, Wu-Nan, 1998.
• Time Series Models, 1981, Deddington: Philip Allan. Japanese translation,
Tokyo University Press, 1985. Second edition, 1993. German translation,
Oldenbourg Verlag, 1995.
• Forecasting, Structural Time Series Models and the Kalman Filter, 1989,
Cambridge: Cambridge University Press.
• Dynamic Models for Volatility and Heavy Tails, 2013, Econometric Society
Monograph. Cambridge: Cambridge University Press.
INTRODUCTION 7
INTRODUCTION 9
I arrived at the University of Kent in late 1971 as a new lecturer. I had not
done a PhD because I had gone straight from a Masters at the London School
of Economics (LSE) to work for two years in the Kenyan Central Bureau of
Statistics. I was supposed to be studying statistics at the LSE but in reality I was
spending most of my time trying to topple capitalism.1 I failed in this endeavor,
but at least passed the Masters—just. While in Kenya I spent two years plan-
ning, implementing, and analyzing household budget surveys. Nairobi was a
great experience but it meant that when I arrived in Canterbury I had little
idea of what academic life entailed or how I should set about doing research.
Fortunately, Garry Phillips was in the department as a senior lecturer and after
my first year there he told me that econometrics was an exciting new field
and would I like to join him on a research project. Garry had noticed that
the one-step ahead predictions in a static time series regression were serially
independent. He was very excited about this result and somewhat disappointed
to find a little later that Gauss had discovered it in the early nineteenth century.
However, Gauss had not used what we called recursive residuals as the basis
of a test for serial correlation and he certainly had not computed its power
over a range of regression models. This is what Garry and I did and the paper
was published in the Journal of the American Statistical Association (JASA) in
1973. The late Jim Durbin was also working in recursive residuals and he gave
a paper on this topic at a meeting of the Royal Statistical Society at around
this time. Peter Young, who had an engineering background, pointed out that
control engineers knew all about this kind of thing because the least squares
1 The year 1968–9 was one in which the LSE was occupied by the students in the Michaelmas term.
The authorities responded by installing iron gates at various key points in the Houghton Street complex
so that parts of the building could be isolated in the event of another occupation. This move backfired
because the students tore down the gates one Friday evening in Lent term. As a result, the school was
closed for three weeks.
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slag f’rdiend, één middag.. Hai skunnigde alles noàr ’t
buiteland.… hai hep d’r wacht, tut ie onster mi de pet
in de ooge heb sitte sien!.…
Dirk gifte zich uit. Hij hield van z’n brok grond, maar de
woede, dat ’t zoo belabberd was met afwatering en ie
toch óók niet heelemaal kon werken voor zich zèlf,
maakte ’m doodonverschillig. Hij gunde d’r geen korrel
zand van aan Piet of z’n vader.… En nou ’t zoo
beroerd ging, moest de boel maar waaien. Toch hield
ie jaloersch, heet-veel van ’n brokkie tuin voor zichzelf
en ’n wijf, als ie maar zoo iets ’n hoek had als Grint;
vet, vruchtbaar, doorwaterd, warmpies in ’t zonnetje
en licht.
—Daa’s net, moar nou sien die da d’r te veul is.… nou
goan ie onster an ’t knibbele hee?.… wa motte d’r wai
mee?… aa’s je ’t nie goed vin.… la’ ie je stoan!.… Je
ken je bakke tug nie je kooters te suige gaife?
Dirk bleef stom, lurkte aan z’n pijp die niet halen wou..
zoog en blies blauw-duisteren nevel rond de herriënde
babbel-tronies.—
[Inhoud]
III.
[Inhoud]
IV.
In den middag tegen vier uur, stond Dirk weer met z’n
kar aan „Tuinders Geluk”. Loom en doodop, sjouwden
de venters [169]aan, ieder uit ’n andere wijk. Om drie
uur had Dirk z’n kruier afgedankt, ’n daalder betaald,
was ie met al z’n klanten klaar; duizelig en vermoeid
van sjok in brandzon, zuchtend naar drank, in wat
kroegen hier en daar neergesmakt, en eindelijk ’n uur
later, op de boot aangeland. Nou had ie z’n duiten in
den zak, wel zeventig pop, die ie zwaar en warm
voelde proppen in z’n broek. Hij wou, moèst ’r wat
kwijt van. ’t Was ’n heete stroom van geldgrabbel, die
’m bedroesemde. D’r mòst wat gezopen, gezòpen.
Nou kreeg ie straks nog de laatste zending aardbei uit
Wiereland.—