S ÉMINAIRE DE PROBABILITÉS (S TRASBOURG )
R ICHARD F. B ASS
Stochastic differential equations driven by symmetric stable processes
Séminaire de probabilités (Strasbourg), tome 36 (2002), p. 302-313
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driven
by symmetric
stable processesRichard F.
Bass1 Department
of MathematicsUniversity
of ConnecticutStorrs,
CT 06269U.S.A.
1. Introduction.
Stochastic differential
equations
of purejump type
arebecoming increasingly important.
To mentionjust
oneexample,
in financial mathematics many times onewants to model
security prices by jump
processes. Yet the basicproperties
of suchstochastic differential
equations (SDEs)
are still not well understood.In one dimension the SDE for a continuous diffusion without drift can be written
dXt dWt
,( 1.1 )
where
Wt
is a one dimensional Brownian motion. It is known thatpathwise unique-
ness holds for
(1.1)
when (1 is bounded and is Holder continuous of ordergreater
than orequal to 2;
see, e.g.,[B2].
This theorem is notoptimal,
but isnearly
so.The
analogue
of(1.1)
for purejump
processesreplaces
the Brownian motionby
acompensated
Poissonpoint
process. Ifdt)
is a Poissonpoint
process withmean measure
v(dz) dt,
one looks at solutions todXt = ~ G(Xt- z) dt)
-v(dz) dt), (1.2)
where
Xt-
denotes the left hand limit of X at time t.(This
stochasticintegral
isdefined
below.)
One may think of theequation
assaying
thatwhenever /~ assigns
mass one to a
point z
at timet,
thenXt jumps
an amountG(Xt_, z).
This for-mulation is due to Skorokhod
[Sk],
who alsoproved pathwise uniqueness
under aLipschitz-like
condition on G. The reason that one goes to a Poissonpoint
process is that if onereplaces
the Brownian motionby
some otherLevy
process, one does notget
aslarge
a class of purejump
processes as one would like.1 Research
partially supported by
NSF Grant DMS 9988496.At the
present
time the SDE(1.2)
appears to be toogeneral
anequation
toallow us to state
satisfying uniqueness results,
so in this paper we consider aspecial
case. Let
Xt
be a one-dimensionalsymmetric
stable process of index a E(0, 2).
Recall that for a E
(0,1)
thepaths
ofXt
are of boundedvariation,
while for a E~1, 2) they
are of unbounded variation. We consider the SDEdYt
=F(Yt_)dXt, Yo
= xo,(1.3)
where the stochastic
integral
is the usual one forsemimartingales (see [Me]).
If in(1.2)
we takev(dz)
= andG(x, z)
=F(x)z,
we have thespecial
case(1.3).
We have two main results. Our first is the
analogue
of the Yamada-Watanabe condition for diffusions[YW].
Theorem 1.1.
Suppose
a E(1, 2),
suppose F is bounded andcontinuous,
andsuppose p is a
nondecreasing
continuous function on[0, oo)
withp(0) =
0 andIF(x) - F(y) _ p(lx -
for all x, y E R. If0+ 1 03C1(x)03B1
dx = ~,(1.4)
then the solution to the SDE
(1.3)
ispathwise unique.
We also show that the
integral
condition issharp.
Our second main result covers the case a E
(0,1).
Theorem 1.2.
Suppose a
E(0,1),
, F iscontinuous,
and F ispositive,
boundedabove,
and bounded below away from 0. Then the solution to the SDE(1.3)
ispathwise unique.
What seems
quite intriguing
is that asa ,~ 1,
therequirement
forunique-
ness
approaches
that of Fbeing
almostLipschitz
continuous. Then for a 1 theuniqueness requirement suddenly
becomesonly
that F be continuous.It is
possible
that theexplanation
lies in thehypothesis
in Theorem 1.2 that F be bounded away from 0. It is notclear, though,
that this isnecessarily
correct. In
[Bar]
Barlow showed that for the diffusion case,if ,Q 2,
there could benonuniqueness
for(1.1)
even when onerequires
that u be Holder continuous of order/3, positive,
and bounded below away from 0. If Barlow’sexample
has ananalogue
in the a E
(1, 2) situation,
the difference between Theorems 1.1 and 1.2 becomeseven more
puzzling.
Regarding
weakuniqueness
for(1.2),
there are results for processes thatare
essentially
a stable processplus
aperturbation
term; see[Ko]
and the references therein. Hoh[H]
covers moregeneral operators provided
the coefficients are smooth.The most
general
theorem is[Bl],
which translates intorequiring
Dinicontinuity
ofthe function G in the x variable.
For
equations
of the form(1.3)
there are a number ofinteresting
results con-cerning
weak existence anduniqueness;
see[PZ]
and[Z].
These should becompared
with the results of
Engelbert
and Schmidt[ES]
for the diffusion case.We use
AXt
to denote thejump
ofXt
at time t. We normalize oursymmet-
ric stable processes so that _ is a Poisson process with parameterWe
briefly
summarize the definition of stochasticintegrals
withrespect
tocompensated
Poissonpoint
processes. For further information on stochastic inte-gration
and stochastic calculus for processes withjumps,
see[Me].
Let
(0, .F, P)
be aprobability
space and let B be the Borel u-field on R. Letv(dy)
be a u-finite measure on(R, B)
with infinite mass that has no atoms. A Poissonpoint
process with compensator v is a measurablemapping : B
x[0, oo)
x 03A9 ~{o,1, 2, ...}
such that(1)
for each A E B withv(A)
oo the process x[0, t])
isa Poisson process with
parameter v(A);
and(2)
ifAI,
...,An
aredisjoint
sets in Bwith
v(A;)
oo for eachi,
then x~0, tJ)
areindependent
processes.If
H(s, z)(w)
wherev(A)
oo and F is bounded andFa- measurable,
definet0 H(s,z)((dz,ds)
-03BD(dz)ds)
= [ (A
[0,b^ t])
-v(A)(b
^t)
- [ (A[0,
a ^t])
- n(A)(a ^t)].
We extend this definition
by linearity
andLZ
limits to the set of H such thatfo f H(s, z)2v(dz)ds
oo andfA H(s, z)v(dz)
ispredictable
wheneverv(A)
oo.One can check
(provided
someintegrability
conditions aresatisfied)
that theabove definition is consistent with the usual definition of the stochastic
integral
t0 KsdXs
whenXs
is a localmartingale
that can itself be written in terms of a Poissonpoint
process. In this paper ourintegrands
arelocally bounded;
theargument
in this case isparticularly
easy.Acknowledgment.
I would like to thank thereferee,
who wasextremely helpful
and who corrected a number of errors in an earlier version of the paper.
2. The case a E
(1, 2).
Suppose Xt
is asymmetric
stable process of index a E(1, 2).
We define the Poissonpoint
processby
x
[0, t~) _ ~
st
the number of times before time t that
Xt
hasjumps
whose size lies in the set A.We define the
compensating
measure vby
v(A)
= E(A [0, 1])
= A1 |x|1+03B1
dx.Set
f(x) = [f (x
+w)
-f (x)
-|w|-1-03B1dw (2.1)
for
C2
functionsf.
. There is convergence of theintegral
forlarge
w since a > 1.There is convergence for small w
by using Taylor’s
theorem and the fact that a 2.Of course, for
C~
functions ,C coincides with theinfinitesimal generator
ofX;
see[St].
.Proposition
2.1.Suppose
a E(1, 2), f
is inC2
with bounded first and secondderivatives,
andZt = t0
JoHsdXs
,where
Ht
is a boundedpredictable
process. Thenf(Zt)
=f(Z0)
+Mt
+ t0|Hs|03B1Lf(Zs-)ds,(2.2)
where
Mt
is amartingale.
Proof. Let
Xr
= andYt
=Xt - Xt
. ThenXt
is aLevy
process with
symmetric Levy
measure which isequal
to v on[-n, n]
and 0 outside this interval. HenceXr
is a squareintegrable martingale (see [Sa],
Lemmas 25.6 and25.7),
and sot0 HsdXns is
also a squareintegrable martingale
since H is bounded.On the other hand
E| t0 HsdYns
~o~ ~H~~E 03A3|0394Xs|1(|0394Xs|>n)
~st
because a E
(1, 2).
Theright
hand side tends to 0 as n - ooby
dominatedconvergence. Therefore
Zt
is theL1
limit of the squareintegrable martingales
J~ H8 and it
follows thatZt
is amartingale.
Write
K(s, y)
for[f(Zs-
+Hsy)
-f(Zs-)
-f’(Ze_)Hey].
Note thatHs0394Xs
. Note also thaty)|
is boundedby
a constant times(lyIAy2).
Iff
EC2
with bounded first and second
derivatives,
we haveby
Ito’s formula thatf (zt)
=f(Zo)
+/
o + 8t -f(Ze-) -
=
f(Z0)
+t0 f’(Zs-)dZs
+t0 K(s,y)(dy, ds)
=
f(Z0)
+Mt
+t0 K(s, y)v(dy)ds,
where
Mt
= t0 f’(Zs-)dZs + t0 K(s,y)((dy,ds) -v(dy)ds).
The first term on the
right
is amartingale by
theargument
of the firstparagraph
of this
proof.
For each m we have then isbounded,
andso for each m
Wmt
=t0 |y|~m K(s,y)((dy,ds)- v(dy)ds)
is a
martingale.
SinceWkt - Wmt
is amartingale
foreach k,
thenE t0 m|y|~k|K(s,y)|((dy, ds)
+03BD(dy)ds) ~
c1t0 m|y|~k |y|03BD(dy)ds
~ c2m1-03B1
,where ci and c2 are
positive
finite constants notdepending
on m or k.Letting
k --~ oo, we see that
E t0 m|y||K(s,y)|((dy,ds)
+v(dy)ds) ~ c2m1-03B1
.Therefore
Mt
is the limit inL1
of themartingales t0 f(Zs-)dZs
+ Wmt, and henceis itself a
martingale.
We make the
change
of variable w =Hsy.
Since y ~Hsy
is monotone if 0 we have that theintegral
withrespect
tov(dy)
is[f(Zx-
+Hsy)- f(Zs-)
-f’(Zs-)Hsy]dy |y|1+03B1
= +
w) - f (Zs-) -
=
if 0. This
equality clearly
also holds whenHs
= 0. We therefore arrive at(2.2).
aWe now prove Theorem 1.1.
Proof of Theorem 1.1. Let
Y1
andY~
be any two solutions to(1.3),
letZt
=Ytl - Yt2,
and letHt
= ThenZt
=fo HsdXs .
Let an be numbers
decreasing
to 0 so that = n. For each nlet
h~
be anonnegative C2
function with support in(an+1, an]
whoseintegral
is1,
and with
h~(x) 2/(np(x)a).
This ispossible
since =1.Fix A >
0,
let =~0 e-03BBtpt(x, 0)dt,
wherept (x, y)
is the transitiondensity
forXt,
and letGa f (x)
=f f (y)ga(x
-y)dy.
It is well known(see,
e.g.,[Ke])
that ga(x)
isbounded,
and is continuous in x.Furthermore,
ga(x)
ga(0)
if0. Let =
Gahn(x). By interchanging
differentiation andintegration
andusing
translationinvariance, f n
is inC2
sincehn
isC2.
Define At
=fo By
Ito’sproduct
formula andProposition 2.1,
,Ee-03BBAtfn(Zt)-fn(0)
= E t0 e-03BBAsd[fn(Zs)]-E t0 e-03BBAs03BB|Hs|03B1fn(Zs-)ds
= E t0 e-03BBAs|Hs|03B1Lfn(Zs-)ds-E t0 e-03BBAs03BB|Hs|03B1fn(Zs-)ds.
yo ~o
Since =
G03BBhn
=03BBG03BBhn - hn
=03BBfn
-hn,
we havefn(0) -
E e-03BBAt fn(Zt)
= Et0 e-03BBAs|Hs|03B1hn(Zs-)ds.
Note |Hs| ~ 03C1(|Zs-|), so
using
our bound forhn,
theright
hand side is less than2t/n
in absolutevalue,
which tends to 0 as n ~ ~. The measureshn(y)dy
all havemass 1 and
they
tendweakly
topoint
mass at 0. Since ga is continuous in x, thenfn (x)
~ga (x)
as n ~ ~. We concludega
(0) -
E = 0.We noted above that
gx(0) if x i= 0,
whileclearly At
oo since F is bounded. We deduceP(Zt
=0)
== 1. This holds for eacht,
and we conclude that Zis
identically
0. 0Remark 2.2. The above
proof
breaks down for a = 1 since ga is nolonger
abounded function.
Remark 2.3. The
integral
conditionfo+
= oo in Theorem 1.1 issharp
in the sense that if the
integral
in(1.4)
isfinite,
then there exists an F for whichpathwise uniqueness
does not hold. Since theargument
that shows this is similar to that in the diffusion case(see [ES]),
weonly
sketch theproof.
LetVt
be asymmetric
stable process of index a.
Suppose
oo. Without loss ofgenerality
we may suppose p is bounded. Define
F(x)
= From the fact that ga isbounded,
we see thatE
~0
e-03BBs
1 F(Vs)03B1ds ~.
So if
At
thenAt
is finite. Since F isbounded,
thenlimt~~ At
= o0a.s. If we let Tt be the inverse of
At
and letWt
=VTt,
after some stochastic calculuswe deduce that
Wt
solves anequation
of the formdWt
=F(Wt_)dXt, (2.3)
where
Xt
is asymmetric
stable process of index a. The processWt
is notidentically
zero,
yet
theidentically
0 process also solves(2.3).
Hence the solution to(2.3)
isnot
unique
in law. It cannot therefore bepathwise unique by [JM],
which is theanalogue
in thejump
case to the well known result of[YW]
which says thatpathwise uniqueness implies
weakuniqueness.
Remark 2.4. The
example
in Remark 2.3 is one where weakuniqueness
fails. Thequestion
of what are the best sufficient conditions forpathwise uniqueness
when onealso has weak
uniqueness
is aninteresting
openproblem.
Remark 2.5. It would be
interesting
to find theanalogue
of Theorem 1.1 for the SDE(1.2).
3. The case a E
(0,1).
Our first
goal
is to construct a solution to(1.3)
that satisfies a certain mea-surability
condition. Let Y be aseparable
metric space andK(Y)
the space ofcompact
subsets of Y. It is known(see,
e.g.,[SV],
Section12.1)
thatK(Y)
is aseparable
metric space with a distance function definedby
d(C1,C2)
=inf{~
> 0 :C1
~C~2, C2
~C~1},
where C~ denotes the
e-neighborhood
of C. Thefollowing proposition
is from[BH].
Proposition
3.1. Let X be a measurable space.Suppose
that : X --~ Yis a sequence of measurable maps such that for each x E
X,
the set{~n(x)}
isnonempty and
precompact.
LetC(x)
be the set of accumulationpoints
of thesequence
{~n(~)}’
Then there is a measurablemap 7/J :
X -~ Y such that~(a?)
EC(x)
for every x E X.Proof. We first wish to show that the map C : ; X ~
K(Y) given C(x)
is measurable. It is clear that
C(x)
iscompact
for every x. We will useK(A)
todenote the collection of
compact
subsets of A C Y. It is known thatK(F)
is closedfor each closed F C Y and the class
{K(F) : F
closed inY} generates
the Borel(7-field of
K (Y)
. Hence it isenough
to show that for each closed F CY,
the set=
{x
EX:C(x)
CF}
is measurable in X.
Let
GN
be the(l/N)-neighborhood
of F. ThenGN
is open andGN 4.
F. Itis easy to
verify
thatK (F)
andoo m oo
=
n U
N=1 n=1 k=n
Note that for the above relation to hold we need the condition that
~~n (x) }
isprecompact
for each x E X. The set{x
E X :~k(x)
EGN}
is measurable becauseGN
is open and~~
is a measurable map. HenceC-1[K(F)~
is measurable.We finish the
proof by applying [SV],
Theorem 12.1.10. DLet =
u(Xs :
s ~t)
and letFt
be thecompletion
of It is well knownthat the
Ft
areright
continuous. Recall that astrong
solution to(1.3)
is one whereIt
isadapted
to the filtrationProposition
3.2.Suppose
a E(0,1)
and F is bounded and continuous. Then there exists astrong
solution to(1.3).
Proof. Let
X?
8t
Then X’~ has
only finitely
manyjumps
in finite time.Clearly
Xn isadapted
to thefiltration
{.~t}.
Let Yn be the solution todYnt
= F(Ynt-)dXnt,Yn0
= x0.(3.1)
Then Yn is also
adapted
to the filtration~~’t};
infact,
it is clear that the solution to(3.1)
isunique
and is determinedby
the fact that Ynstays
constant until thetime t of a
jump
ofXn,
at whichpoint
Ynjumps
Fix K. We use
D[0, K]
to denote the space of functions that areright
con-tinuous with left limits on
[0, K~;
see[Bi]
for further information onD[O, K~.
Thepaths
ofXt
are of boundedvariation,
a.s. Soexcept
for a null set,given
6- there exists 6(depending
onw)
such thatsK Hence for each n,
L (3.2)
sK
Since
Xt(w) only
hasfinitely
manyjumps
of sizelarger
than 8 in absolute valueby
time
K,
there exists asubsequence
n~ such thatZt’ (w)
= Yo +~ (w)1{IoXa(W)I>a}
st
converges
uniformly
and hence inK~.
Note(w) - Zt’ (w) ~ by (3.2).
For êm =1/m,
m =1, 2, ...,
we use the aboveargument
to select a subse-quence
depending
on êm such that in addition thesubsequence
for êm+l is containedin the one for
Using
a standarddiagonalization
argument, there exists a subse- quence ofYt’~ (w)
that converges inK~.
It follows that is precompact inD[0, K]
for each K.If
Yt
is anysubsequential
limitpoint, then Yt
has ajump only when Xt
does and does not otherwise move. If X has a
jump
at timet,
thenYt jumps
Since F iscontinuous,
we conclude thatYt jumps
HenceYt
= xo + SinceXt
is of boundedvariation,
this is the same as[Me],
andtherefore Yt
is a solution to(1.3).
Let be an enumeration of the
nonnegative
rationals and let X = ~.Let
Yi
=D(~0,
with metricdj ;
underdy
the spacey~
is aseparable
metric space.Set
y
=n:1 ya.
Ifv’)
=03A3~i=1 2-’ arctan(dyi(03C9i, 03C9’i))
for a7 =03C92,...),
then
dy
makesy
into aseparable
metric space.Let 9
be the a-field on Xgenerated by
the collection of sets of the form~4i
x ... xAk,
whereA;
E3iq;
for i== 1, ... , k and k >
1. For each n define Y" : X -->y by letting
theith
coordinate of be the function t -~ It is easy to check that themapping
Yn is measurable withrespect
to the ~-fieldQ.
Note Y~‘ has thefollowing
twoproperties:
(1) If qi qj
and c~i = then theith
and thejth
coordinates of arefunctions that agree for
t
q~.(2)
The value of theith
coordinate ofdepends only
on 03C9i and does notdepend
on Wjfor j ~
i.In view of the definition of the metric on
y,
and the fact that isprecompact
inD(~0, qi~),
for almost everyw,
everysubsequence
of has aconvergent subsequence.
Here "almostevery"
means withrespect
to theproduct
measure on X. Therefore the sequence is precompact for almost every Let denote the set of
subsequential
limitpoints.
We see,therefore,
thatC(w)
isnonempty
for almost every (J.The set
C(w)
is compact.Moreover,
every element ofC(w)
willsatisfy
prop-erties
(1)
and(2)
above.By Proposition
3.1 we can select EC((J)
such thatthe map 03C9 ~
Y(w) is 9
measurable. For w E (2and t
q;, let fiJ be apoint
notin the null set for which Wi = w and define to be the
ith
coordinate ofY(w)
evaluated at time t. In view of
(1),
the definitionof Yt
does notdepend
on i.Sup- pose t
qi. Themapping
03C9 ~Y (w)
is measurable so the same is true for itsitn
coordinateYi (~) .
It follows thatYt (w)
is measurable withrespect
to SinceYt
is measurable with respect to for every
rational qi
> t, it follows that for every t,Yt
is measurable with respect to the filtration~~’t},
DSaying
the solution to(1.3)
isunique
in law(or
that weakuniqueness holds)
means that if
dYit
= F(Yit-)dXit for i= 1, 2,
withY10
=Y20
= x0 and bothX1t, X2t
are
symmetric
stable processes of index a, thenY1
andY2
have the same law.Proposition
3.3.Suppose
F satisfies thehypotheses
of Theorem 1.2. Then the solution to(1.3)
isunique
in law.Proof. The
proof
of this is similar to the diffusion case and weonly
sketch theargument.
LetAt
= let Tt be the inverse toAt,
and letZt
=YTt.
Since F is
bounded, limt~~ At = ~
a.s. Some easy stochastic calculus shows that8t A Y
is a
martingale
for every set A C R that iscompact
and apositive
distance from 0.Also,
for such A this process is apurely
discontinuousmartingale.
Thisimplies
that
Zt
is asymmetric
stable process of index a. Moreover some more stochastic calculus shows that ifBt
=fo
and ~yt is the inverse ofBt,
then =Y.
.Suppose dYti
=F(Yt )dXt,
i=1, 2,
whereX 1
andX2
aresymmetric
stableprocesses of index a and define
Zi
in terms ofV
as above. Then the law ofZ~
andZ2,
bothbeing symmetric
stable processes, are the same. SinceY1
can be obtained fromZ~
in the exact same way asY2
is obtained fromZ2,
then the laws ofY1
andY2
are the same. 0Proof of Theorem 1.2.
(cf. [E].)
LetXt
be asymmetric
stable process of indexa. There exists a
strong
solutionYt
to(1.3).
Therefore there exists a measurablemap H
; X -~ Y.Suppose Yt
is another solution.By Proposition
3.3 the laws of Y and Y’ are the same. SinceXt
= andXt
=then the
joint
laws of(X, Y)
and(X, Y’)
are the same. Since Y =H(X),
thenY’ =
H(X ).
But then Y =H(X)
= Y’. oRemark 3.4. Lest the reader think that every SDE driven
by
asymmetric
stableprocess of index a E
(0,1)
ispathwise unique,
we mention that this is not thecase. Let
/3
E(0,1),
letYt
be asymmetric
stable process of index a, and letAt
=fo
From known facts about the Green function of stable processes,At
will be finite a.s.if 03B2
is smallenough.
On the otherhand, clearly j4i
> 0 a.s.,and
by
asimple scaling argument At
isequal
in law to . For anyM,
M)
=P(A1
~ 0as t -~ oo,
provided /3
is smaller than a. We concludeAt -
oo a.s. as t --~ oo. Wecan then
proceed
as in Remark 2.3 to see that the SDEdWt
=is not
unique
inlaw,
hence notpathwise unique.
It would be
extremely interesting
to know if theexample
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