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Markov Chains and Stochastic Stability
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Contents Asterisks (*) mark sections from the first edition that have been revised or augmented in the second edition. List of figures xi Prologue to the second edition, Peter W. Glynn xiii Preface to the second edition, Sean Meyn xvii Preface to the first edition xxi I COMMUNICATION and REGENERATION 1 1 Heuristics 3 1.1 A range of Markovian environments 3 1.2 Basic models in practice 6 1.3 Stochastic stability for Markov models 13 1.4 Commentary 19 2 Markov models 21 2.1 Markov models in time series 22 2.2 Nonlinear state space models* 26 2.3 Models in control and systems theory 33 2.4 Markov models with regeneration times 38 2.5 Commentary* 46 3 Transition probabilities 48 3.1 Defining a Markovian process 49 3.2 Foundations on a countable space 51 3.3 Specific transition matrices 54 3.4 Foundations for general state space chains 59 3.5 Building transition kernels for specific models 67 3.6 Commentary 72 v vi Contents 4 Irreducibility 75 4.1 Communication and irreducibility: Countable spaces 76 4.2 ψ-Irreducibility 81 4.3 ψ-Irreducibility for random walk models 87 4.4 ψ-Irreducible linear models 89 4.5 Commentary 93 5 Pseudo-atoms 96 5.1 Splitting ϕ-irreducible chains 97 5.2 Small sets 102 5.3 Small sets for specific models 106 5.4 Cyclic behavior 110 5.5 Petite sets and sampled chains 115 5.6 Commentary 121 6 Topology and continuity 123 6.1 Feller properties and forms of stability 125 6.2 T-chains 130 6.3 Continuous components for specific models 134 6.4 e-Chains 139 6.5 Commentary 144 7 The nonlinear state space model 146 7.1 Forward accessibility and continuous components 147 7.2 Minimal sets and irreducibility 154 7.3 Periodicity for nonlinear state space models 157 7.4 Forward accessible examples 161 7.5 Equicontinuity and the nonlinear state space model 163 7.6 Commentary* 165 II STABILITY STRUCTURES 169 8 Transience and recurrence 171 8.1 Classifying chains on countable spaces 173 8.2 Classifying ψ-irreducible chains 177 8.3 Recurrence and transience relationships 182 8.4 Classification using drift criteria 187 8.5 Classifying random walk on R + 193 8.6 Commentary* 197 9 Harris and topological recurrence 199 9.1 Harris recurrence 201 9.2 Non-evanescent and recurrent chains 206 9.3 Topologically recurrent and transient states 208 9.4 Criteria for stability on a topological space 213 9.5 Stochastic comparison and increment analysis 218 9.6 Commentary 228 Contents vii 10 The existence of π 229 10.1 Stationarity and invariance 230 10.2 The existence of π: chains with atoms 234 10.3 Invariant measures for countable space models* 236 10.4 The existence of π: ψ-irreducible chains 241 10.5 Invariant measures for general models 247 10.6 Commentary 253 11 Drift and regularity 256 11.1 Regular chains 258 11.2 Drift, hitting times and deterministic models 261 11.3 Drift criteria for regularity 263 11.4 Using the regularity criteria 272 11.5 Evaluating non-positivity 278 11.6 Commentary 285 12 Invariance and tightness 288 12.1 Chains bounded in probability 289 12.2 Generalized sampling and invariant measures 292 12.3 The existence of a σ-finite invariant measure 298 12.4 Invariant measures for e-chains 300 12.5 Establishing boundedness in probability 305 12.6 Commentary 308 III CONVERGENCE 311 13 Ergodicity 313 13.1 Ergodic chains on countable spaces 316 13.2 Renewal and regeneration 320 13.3 Ergodicity of positive Harris chains 326 13.4 Sums of transition probabilities 329 13.5 Commentary* 334 14 f-Ergodicity and f-regularity 336 14.1 f-Properties: chains with atoms 338 14.2 f-Regularity and drift 342 14.3 f-Ergodicity for general chains 349 14.4 f-Ergodicity of specific models 352 14.5 A key renewal theorem 354 14.6 Commentary* 359 15 Geometric ergodicity 362 15.1 Geometric properties: chains with atoms 364 15.2 Kendall sets and drift criteria 372 15.3 f-Geometric regularity of Φ and its skeleton 380 15.4 f-Geometric ergodicity for general chains 384 15.5 Simple random walk and linear models 388 viii Contents 15.6 Commentary* 390 16 V -Uniform ergodicity 392 16.1 Operator norm convergence 395 16.2 Uniform ergodicity 400 16.3 Geometric ergodicity and increment analysis 407 16.4 Models from queueing theory 411 16.5 Autoregressive and state space models 414 16.6 Commentary* 418 17 Sample paths and limit theorems 421 17.1 Invariant σ-fields and the LLN 423 17.2 Ergodic theorems for chains possessing an atom 428 17.3 General Harris chains 433 17.4 The functional CLT 443 17.5 Criteria for the CLT and the LIL 450 17.6 Applications 454 17.7 Commentary* 456 18 Positivity 462 18.1 Null recurrent chains 464 18.2 Characterizing positivity using P n 469 18.3 Positivity and T-chains 471 18.4 Positivity and e-chains 473 18.5 The LLN for e-chains 477 18.6 Commentary 480 19 Generalized classification criteria 482 19.1 State-dependent drifts 483 19.2 History-dependent drift criteria 491 19.3 Mixed drift conditions 498 19.4 Commentary* 508 20 Epilogue to the second edition 510 20.1 Geometric ergodicity and spectral theory 510 20.2 Simulation and MCMC 521 20.3 Continuous time models 523 IV APPENDICES 529 A Mud maps 532 A.1 Recurrence versus transience 532 A.2 Positivity versus nullity 534 A.3 Convergence properties 536 Contents ix B Testing for stability 538 B.1 Glossary of drift conditions 538 B.2 The scalar SETAR model: a complete classification 540 C Glossary of model assumptions 543 C.1 Regenerative models 543 C.2 State space models 546 D Some mathematical background 552 D.1 Some measure theory 552 D.2 Some probability theory 555 D.3 Some topology 556 D.4 Some real analysis 557 D.5 Convergence concepts for measures 558 D.6 Some martingale theory 561 D.7 Some results on sequences and numbers 563 Bibliography 567 Indexes 587 General index 587 Symbols 593 |
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