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Vol. 153No. 1 (2012)

Infinite-Dimensional Autoregressive Systems and the Generalized Dynamic Factor Model

Titre :Systèmes Autorégressifs de Dimension Infinie et le Modèle à Facteurs Dynamiques Généralisé

Marco Lippi1

Abstract:The Generalized Dynamic Factor Model is usually represented as an infinite-dimensional moving average of the common shocks plus idiosyncratic components. Here I argue that such representation can only be the solution (reduced form) of a deeper, structural, infinite-dimensional system of equations which contain both an autoregressive and a moving average part. I give conditions for the solutions of such infinite-dimensional systems to make sense and be weakly stationary, and study their decomposition into common and idiosyncratic components. Interesting links to long memory as generated by aggregation are also shown.

Résumé :Le Modèle à Facteurs Dynamiques Généralisé est habituellement représenté comme une moyenne mobile infinie des chocs communs à laquelle s’ajoutent des composantes idiosyncratiques. Dans cet article, nous expliquons que cette représentation n’est que la solution (sous forme réduite) d’un système d’équations plus profond, structural, de dimension infinie, et contenant à la fois une partie autorégressive et une partie à moyenne mobile. Nous livrons des conditions qui garantissent que les solutions de tels systèmes sont faiblement stationnaires et nous analysons leur décomposition en composantes communes et idiosyncratiques. Enfin, nous établissons des liens avec la mémoire longue qui est engendrée par agrégation.

Keywords:Infinite-Dimensional Datasets, Generalized Dynamic Factor Models, Ensembles de données de dimension infinie, Modèle à Facteurs Dynamiques Généralisé

AMS 2000 subject classifications:62P20, Applications to Economics

1. Introduction

Consider an infinite-dimensional stochastic process

xt= (x1t x2t · · · xnt · · ·)0.

Suppose thatxt is zero-mean and weakly stationary, precisely thatxnt= (x1t x2t · · · xnt)0is zero- mean and weakly stationary for alln. LetΣΣΣxn(θ)be the spectral density matrix ofxnt,θ∈[−π π], and letλn jx(θ)be the jth eigenvalue ofΣΣΣxn(θ). Assume that there exists an integerq≥0 such that (I) λn,q+1x (θ)≤D, for someD>0, for allnandθalmost everywhere in[−π π], and (II) ifq>0 thenλnqx (θ)→∞asn→∞forθalmost everywhere in[−π π]. Then, as Forni and Lippi (2001) prove, there exists aq-dimensional white noiseut = (u1t u2t · · · uqt)0, square-summable filters bi j(L),i∈N, j=1,2, . . . ,q, and an infinite-dimensional, zero-mean, weakly stationary process

ξ

ξξt = (ξ1t ξ2t · · · ξnt · · ·)0,

1 Universitá di Roma La Sapienza and Einaudi Institute for Economics and Finance (EIEF) E-mail:ml@lippi.ws

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such that

xititit

χit =ai1(L)u1t+ai2(L) + · · · +aiq(L)uqtit =ai(L)utit, (1) where:

(i) There existsB>0 such that for allnandθalmost everywhere in[−π π]λn1ξ ≤B.

(ii)λnqχ(θ)→∞asn→∞, forθalmost everywhere in[−π π]. Note thatΣΣΣχn(θ)has rankqfor all θ, so thatλn,q+sχ (θ) =0 for alls>0.

(iii)ujtandξi,t−kare orthogonal for allk∈Z,i∈Nand j=1,2, . . . ,q.

The converse is also true, i.e. ifxt has a representation of the form (1) withχχχt andξξξt fulfilling (i), (ii) and (iii), then the above conditions on theqth and(q+1)th eigenvalues ofΣΣΣxn(θ)hold.

Forni and Lippi (2001) also show that the decomposition ofxit intoχitandξit is unique. Of course neitherut nor the filtersbi j(L)are unique. For, a transformation ofut, by an invertible matrix, and the corresponding transformation of the filters produce a representation equivalent to (1). We assume that the white noiseut has been normalized, i.e. thatut is orthonormal.

Model (1), under (i), (ii) and (iii), is known as a Generalized Dynamic Factor Model. It has been the object of a quite vast literature starting with Forni, Hallin, Lippi and Reichlin (2000), Forni and Lippi (2001), Stock and Watson (2002a and b), Bai and Ng (2002), Bai (2003).

We refer to (i) by saying that the variablesξit areweakly correlatedor that they areidiosyncratic.

The variablesujt are called thecommon shocksand the variablesχit thecommon components.

Thus in (1) an infinite dimensional, large-dimensional in empirical applications, vector is driven by a small-dimensional vector of common shocks plus the weakly correlated idiosyncratic terms.

If the variablesxit are macroeconomic variables, as in the large majority of empirical applica- tions so far, the shocksujt, j=1,2, . . . ,q, represent common macroeconomic sources of variation.

The variablesξit represent instead variable-specific, sectoral, local disturbances or measurement errors. If further information, economic-theory statements in particular, is available, then the structural common shocks can be identified with he same methods applied in the construction of Structural VARs, i.e. determining a matrixHsuch that for the structural shocks we have˜ut=Hut, while ˜ai(L) =Hai(L)are the structural impulse-response functions (see e.g. Forni, Giannone, Lippi and Reichlin, 2009).

The motivation for the present paper is that representation (1) is in general the moving-average solution of a system of equations in which each variablexit depends on common shocks and idiosyncratic components, but also directly on some of the variablesxjt, with or without lags.

For example, suppose that the variablex1t is the price of good G. Thenx1t depends on the prices of other goods that enter G’s production process. Or, suppose thatx1t results from a decision rule adopted by an optimizing agent under rational expectations. Thenx1t typically depends on (i) lagged values ofx1t, (ii) other variables belonging to the system, both current and lagged, (iii) a finite moving average of a vector white noise. See Hansen and Sargent (1980), as a paradigm for this kind of models.

Piecing together (a) the above considerations on the autoregressive links between the variables xit and (b) the distinction between common and idiosyncratic shocks, under mild simplifying assumptions, the structural model would take the following form:

C0xt+C1xt−1+· · ·+Cpxt−p=B0ut+B1ut+· · ·+Bqut−q+ξξξt, (2)

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or, in compact version

C(L)xt=B(L)ut+ξξξt, (3) where the matricesCjhave an infinite number of rows and columns, while the matricesBkhave an infinite number of rows andqcolumns.

There are cases in which the existence of a stationary solution for system (3) requires nothing more than the usual condition. For example, if the system is

xitix1,t−1+biutit,

then of course a stationary solution exists if and only if |α1|<1. However, if the system is genuinely infinite dimensional, for example

xitixi+1,t−1+biutit,

then the whole infinite-dimensional matrixC(L)must be taken into consideration.

The paper studies the following simplification of (3):

xit=

j=1

ci jxj,t−1+biutit, (4)

or, in compact form,

(I−CL)xt=but+ξξξt. (5)

Of course the finite moving average on the right-hand side of (3) does not play any role for the existence of stationary solutions. Thus havingq=1 andB(L) =bdoes not imply any los of generality. On the other hand, generalizing the results proved here to model (3) is a fairly easy task.

Section 2 provides conditions on the infinite-dimensional matrixCand the infinite-dimensional vectorb, such that equation (5) has a stationary solution. I find that ifCis a bounded operator on the Banach space of bounded sequencesci, the norm being supi|ci|, if supi|bi|<∞and the spectral radius ofCis less than unity, then the representation

xt = (I−CL)−1but+ (I−CL)−1ξξξt

makes sense and is a stationary solution of (5). Section 3 shows that ifC0is a bounded operator on the Hilbert space of square summable sequencesdi, the norm beingp

i|di|2,and the spectral radius of C0 is less than unity, then xt is a Generalized Dynamic Factor Model, with q=1, in which (I−CL)−1but and (I−CL)−1ξξξt are the common and the idiosyncratic component respectively. In Section 4 I discuss some examples and links to long-memory stochastic processes.

Section 5 concludes.

2. Existence of a stationary solution

It will be convenient to re-index the variablesxit inZinstead ofN, so that (4) becomes xit=

j=−∞

ci jxj,t−1+biutit. (4)

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Assumption 1. The sequence ξit, i∈Z, is zero-mean, weakly stationary and idiosyncratic.

Moreover, ut is a unit-variance white noise.

Assumption 2. limn→∞nj=−nb2j=∞.

Assumption 3. ut⊥ξj,t−k for i∈Zand k∈Z.

Assumption 2 implies that the first eigenvalue of the spectral density matrix of (b−n · · · b0· · · bn)0ut

tends to infinity asn→∞.As a consequence, under Assumptions 1, 2 and 3, definingyit = biutit, the sequenceyit is a Generalized Dynamic Factor Model withq=1 (note that the dynamics for the variablesyt may only come form the idiosyncratic terms).

As an example, we may think of an infinite production system, whithci j andbjrepresenting, respectively, the quantity of commodity jand labour necessary to produce one unit of commodity i. Ifxit andut are the the price of commodityiand the wage rate respectvely, then (4) is the price equation, withξit being a disturbance term, under the assumption of a zero rate of profit (or of a factor profit embodied in the coefficientsci j). Given the non-negative vector

d= (· · · d−n · · · d0 · · · dn · · ·), the equation

(I−C0)z=d

determines the activity levels necessary to obtaindas a net product. Special cases are

xit =ciixi,t−1+biutit, (6)

in which each industry employs only its own product as a means of production, and

xit =ci,i−1xi−1,t−1+biutit, (7)

in which the only mean of production used in industryiits the product of industryi−1. Further discussion of these cases is postponed to Section 5.

An obvious candidate for a solution of equation (5) is

xt= (I+CL+C2L2+· · ·)but+ (I+CL+C2L2+· · ·)ξξξt. (8) But of course we must impose conditions on the infinite-dimensional matrixCand the vectorb.

It seems natural to assume thatbi<bfor some positiveb. Moreover, we must have that all the components ofCbare finite, i.e. that∑j=−∞ci jbjis finite for alli.

Denote by`the Banach space of all complex bounded sequences c= (· · · c−n · · · c0 · · · cn· · ·)0, with normkck`=supi|ci|.

Assumption 4. The vectorbbelongs to`and the matrixCis a bounded operator on`.

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Let us recall thatCis a bounded operator on`if sup

kdk`=1

kCdk` <∞,

and that the norm of a bounded operator on ` is defined as the left-hand side of the above inequality:

kCk` = sup

kdk`=1

kCdk`. (9)

Moreover, it easily seen that

kCk`

=sup

i

j=−∞

|ci j|.

Under Assumption 4, thespectrumofCis the subset of the complex fieldCcontaining allλs such thatλI−Chas not a bounded inverse. The spectrum ofCis a bounded, closed subset of C. Thespectral radiusofC, denoted byr`(C), is defined as sup|λ|, forλ belonging to the spectrum ofC.

Assumption 5. r`(C)<1.

Under Assumption 5 the series

I+Cµ+C2µ2+· · ·

converges with respect to the norm (9) for someµ >1. This implies thatkCnk` <Aµ−k for someA>0 and therefore

1+kCk`+kC2k`+· · ·<∞. (10)

For the spectrum of bounded operators on Banach spaces and the results mentioned above, see Dunford and Schwartz (1988), p. 566-7, Lemma 4 in particular.

Proposition 1. Under Assumptions 1 through 5, (8) is a weakly stationary solution of equation (4). MoreoversupiE(x2it)<∞.

Proof.I want to prove that the right-hand side of (8) has finite second moments. Consider first the common component of theith variable in (8):

(bi+

j=−∞

ci jbjL+

j=−∞

c(2)i j bjL2+· · ·)ut,

wherec(k)i j denotes the(i,j)entry ofCk. The filter’s squared gain is

|bi+

j=−∞

ci jbje−iθ+

j=−∞

c(2)i j bje−i2θ+· · · |2

≤ kbk2`

(1+

j=−∞

|ci j|+

j=−∞

|c(2)i j |2+· · ·)2

≤ kbk2`

(1+kCk`+kC2k`+· · ·)2.

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Consider now the idiosyncratic component ξit+

j=−∞

ci jξjt+

j=−∞

c(2)i j ξjt+· · ·= (I[i]+C[i]L+C2[i]L2+· · ·)ξξξt

whereCk[i]denotes theith row ofCk. Then consider

(I[i,m]+C[i,m]L+C2[i,m]L2+· · ·)ξξξt, (11) whereCk[i,m]denotes the row vector

(c(k)i,i−mc(k)i,i−m+1 · · · c(k)i,i · · · c(k)i,i+m−1c(k)i,i+m).

For the spectral density of (11) we have

(I[i,m]+C[i,m]e−iθ+C2[i,m]e−i2θ+· · ·)ΣΣΣξ[i,m](θ)(I[i,m]+C[i,m]e−iθ+C2[i,m]e−i2θ+· · ·)0

≤ kI[i,m]+C[i,m]e−iθ+C2[i,m]e−i2θ+· · · k2Eλi+m,1ξ (θ)

≤ kI[i,m]+C[i,m]e−iθ+C2[i,m]e−i2θ+· · · k2EB,

where k · kE is the standard Euclidean norm, ΣΣΣξ[i,m](θ) is the spectral density of the vector (ξi−m,t · · ·ξi+m,t),λi+m,1ξ (θ)is the first eigenvalue ofΣΣΣξi+m(θ), which is greater or equal to the first eigenvalue ofΣΣΣξ[i,m](θ)(becauseΣΣΣξ[i,m](θ)is a submatrix ofΣΣΣξi+m(θ), see Forni and Lippi, [9]).

On the other hand,

kI[i,m]+C[i,m]e−iθ+C2[i,m]e−i2θ+· · · k2=|ci,i−me−iθ+c(2)i,i−me−i2θ+· · · |2

+· · ·+|1+ciie−iθ+c(2)ii e−i2θ+· · · |2+· · ·+|ci,i+me−iθ+c(2)i,i+me−i2θ+· · · |2

≤(|ci,i−m|+|c(2)i,i−m|+· · ·)2

+· · ·+ (1+|cii|+|c(2)ii |+· · ·)2+· · ·+ (|ci,i+m|+|c(2)i,i+m|+· · ·)2

≤ 1+

m j=−m

|ci,i+j|+

m j=−m

|c(2)i,i+j|+· · ·

!2

≤ 1+kCk`+kC2k`+· · ·2

.

The conclusion follows, with E(xit)2bounded by(kbk2`

+B)(1+kCk`+kC2k`+· · ·)2.Q.E.D.

3. The solution of the autoregressive equation as a Generalized Dynamic Factor Model Consider a zero-mean weakly-stationary infinite dimensional processηit,i∈Z. According to condition (i), see the Introduction,ηηηt is idiosyncratic ifλn1η(θ)is essentially bounded. Now consider a sequence of infinite-dimensional filters

fn(L) = (· · · fn,−n(L) fn,−n+1(L)· · · fn,0(L)· · · fn,n−1(L) fn,n(L) · · ·), (12) and assume that

n→∞lim Z π

−π

j=−−∞

|fn,j(e−iθ)|2dθ. (13)

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The most obvious example is the arithmetic average:

fn,j(L) =

(0 if|j|>|n|

(1+2n)−1if|j| ≤ |n|.

Forni and Lippi (2001) prove that the sequenceηηηt is idiosyncratic if and only if (13) implies that

n→∞limfn(L)ηηηt=0, (14)

in mean square.

We denote by`2the Hilbert space of all complex square-summable sequences d= (· · · d−n · · · d0 · · · dn · · ·)0,

with normkdk`2=p

i=−∞|di|2.

Assumption 6. The matrixC0is a bounded operator on`2, i.e.

sup

kdk`

2=1

kC0dk2`

2 <∞.

The`2-norm is defined askC0k`2=q supkdk`

2=1C0d, the spectrum and the spectral radius are defined as above, r`2(·)denoting the spectral radius. We suppose that

r`2(C0)<1.

LetL2be the Hilbert space of all sequences

f= (· · · f−n · · · f0 · · · fn · · ·)0, where

(1) fnis defined on[−π π], takes values inCand is square integrable;

(2)R−ππj=−∞|fj(θ)|2dθ<∞.

TheL2-norm is defined as kfkL2 =

s Z π

−π

j=−∞

|fj(θ)|2dθ= rZ π

−π

kf(θ)k2`

2dθ.

Now consider the functionC, with sendsθ∈[−π π]on the matrixC0e−iθ. Forf∈L2, using Assumption 6:

kCkfk2= Z π

−π

kC0ke−ikθf(θ)k2`

2dθ≤ kC0ke−ikθk2`

2kfk2L

2 =kC0kk2`

2kfk2L

2, so thatCkis a bounded operator onL2andkCkkL2≤ kC0kk`2. Moreover, forn<m,

kCn+Cn+1+· · ·+CmkL2 ≤ kCnkL2+kCn+1kL2+· · ·+kCmkL2

≤ kC0nk`2+kC0n+1k`2+· · ·+kC0mk`2.

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Under Assumption 6, (10) holds in the`2-norm. Therefore, denoting byI the identity operator onL2,

I +C+C2+· · ·

converges in theL2-norm. Thus, in conclusion,I −C is invertible and (I −C)−1=I +C+C2+· · ·

Proposition 2. Under Assumptions 1 through 6 the infinite-dimensional processxt, as defined in (8), is a Generalized Dynamic Factor Model with q=1, whereχχχt = (I+CL+C2L2+· · ·)but is the common component andξξξt = (I+CL+CL2+· · ·)ξξξt is the idiosyncratic component.

PROOF. Given a complex-valued function defined on [−π π], we denote by f(L) the filter

k=−∞af,kLk, whereaf,kis the coefficient ofe−ikθ in the Fourier expansion of f. Givenf∈L2, we define

f(L) = (· · ·f

−n(L)· · · f

0(L) · · · f

n(L) · · ·).

Note thatfis a column whereasf(L)is a row vector. The componentξξξt is idiosyncratic if and only if, given the sequencefn∈L2,kfnk2L

2 →0 implies that E(fn(L)ξξξt)2→0 in mean square.

Givenfn, letgn=

(I −C)−1fn

. We have fn(L)ξξξt =g

n(L)ξξξt.

On the other hand,(I−C)−1is linear, bounded and therefore continuous, so thatkfnk2L

2→0

implies thatkgnk2L

2→0, which in turn implies that E(g

n(L)ξξξt)2→0.

Regarding the componentχχχt, take the sequence hn(θ) = 1

nj=−nb2j(· · · 0b−n · · · b0 · · · bn0 · · ·)0

and observe thatkhn(θ)k`2 →0 for allθ∈[−π π], so that obviouslyhn∈L2. Moreover, hn(L)χχχt=hn(L)but =ut.

Then definegn= [(I −C)hn]:

gn(L)χχχt =hn(L)χχχt=ut. Now consider

gn= (· · · gn,−mgn,−m+1· · · gn,0· · · gn,m−1gn,m · · ·)0,

and definegn,s,s>0, as the truncation ofgnobtained by setting equal to zero all entries ofgn

whose index exceedsin modulus. There exists a sequencegn,mn, withmn→∞asn→∞, such that

gn,m

n(L)χχχt→ut

in mean square. For the spectral density ofgn,m

n(L)χχχt, we have

sn(θ) =gn,mn(θ)ΣΣΣmn(θ)gn,mn(θ)0≤λmn,1(θ)kgn,mn(θ)k2E.

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Now observe that

kgn(θ)k`2 =k(I−C0e−iθ)hn(θ)k`2 ≤ khn(θ)k`2(1+kC0k`2)→0 for allθ∈[−π π], so that

kgn,mn(θ)kE≤ kgn(θ)k`2 →0 for allθ∈[−π π]. LetingΛbe the subset of[−π π]whereλχ

n,mn,1(θ)does not tend to infinity, sn(θ)→0 inΛ. Becausegn,m

n(L)χχχt→ut in mean square, we have Z π

−π

|sn(θ)−(2π)−1|dθ→0.

This implies thatΛhas measure zero. In conclusion, the first eigenvalue of the spectral density of

χnt diverges almost everywhere in[−π π]. Q.E.D.

4. Examples. Long memory processes

An important observation is that, unlike finite-dimensional autoregressive equations, in our case the condition that the spectral radius ofC, as an operator on`, is sufficient but not necessary for stationarity ofxt. Consider example (6) and suppose that|cii|<1 but that supi|cii|=1. In this case 1 belongs to the spectrum ofC, i.e.I−Chas not a bounded inverse. For,(I−C)−1v, wherevis the vector having unity in all entries, is not a member of`(note that 1 belongs to the spectrum ofCbut has no corresponding eigenvectors). Nevertheless, equations (4) can be solved one after another and each of the variablesxit is stationary. Boundedness of E(x2it)is not obtained unless we make further assumptions onbandξξξt. Of course Assumption 6 fails to hold and Proposition 2 holds only under further assumptions onξξξt.

Consider example (7). We have, assumingbi=1 and using the notationci,i−1i, xit= [utiut−1iαi−1ut−2+· · ·] + [ξitiξi−1,t−1iαi−1ξi−2,t−2+· · ·].

If supii|<1 for alli, then the spectral radius of bothCandC0are less than unity and Proposi- tions 1 and 2 hold. But neither supii|<1 nor supii| ≤1 is necessary. What matters is the behavior of the terms

γis=

s

k=0

αi−s,

ass→∞. For instance, if|αj|>1 only for a finite number of values of j, the remaining ones being bounded away from unity, the spectral radius ofCwould be less than unity. On the other hand, under supii|=1, the processxit can exhibit long memory. Interestingly, here long memory arises for individual variables from the infinite-dimensional autoregressive system, rather than from aggregation as in the literature following Granger (1980), see also Zaffaroni (2004).

Lastly, consider the example

xitix0,t−1+utit, (15)

in which all variables depend onx0,t−1. Assuming|α0<1 we have a stationary solution, while the values ofαi,i6=0, play no role. However, if for exampleαi=α for alli6=0, then the stationary

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solution depends on two common shocks, namelyut andξ0,t−1, so that a common shock arises with the inversion ofI−CL. Clearly here Assumption (6) does not hold.

Systems that are very close to the infinite-dimensional autoregression studied here have been considered in Dupor (1999) and Horvath (2000). These papers study the possibility that autoregres- sive links among productive sectors cause idiosyncratic components to produce macroeconomic effects. An important difference between this paper and these contributions is that instead of an infinite-dimensional system, their models consist of sequences of non-nested finite-dimensional autoregressive systems which grow in size. My observations above on long memory are in the spirit of their results.

In a fairly different perspective, di Mauro et al. (2007), Pesaran and Chudik (2010) and Chudik and Pesaran (2011) also consider non-nested finite-dimensional sequences of VAR systems.

They also assume a sparse structure for the matrixC, according to neighborhood and dominant relationships (example (15) is a case with a dominant sector/country). This makes estimation of the autoregressive coefficients possible. Such a structure is an important difference with respect to the model studied in the present paper and those in Dupor (1999) and Horvath (2000).

The aim of the these studies is to determine general conditions under which, for example, long memory or macroeconomic effects emerge from the inversion ofI−CL. However, without further assumptions the autoregressive matrix cannot be estimated.

5. Conclusion

If the spectral radii ofCandC0, as operators on`and`2respectively, are smaller than unity, then system (4) has a stationary solution. Moreover, no common shocks are produced from the idiosyncratic componentsξξξt through inversion ofI−CL. However, if the above conditions do not hold then individual variables may exhibit long memory. Moreover, common shocks may arise from inversion ofI−CL.

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