Continuous-time stochastic processes with stationary independent increments are known as Lévy processes. In the previous post, it was seen that processes with independent increments are described by three terms — the covariance structure of the Brownian motion component, a drift term, and a measure describing the rate at which jumps occur. Being a special case of independent increments processes, the situation with Lévy processes is similar. However, stationarity of the increments does simplify things a bit. We start with the definition.
Definition 1 (Lévy process) A d-dimensional Lévy process X is a stochastic process taking values in
such that
- independent increments:
is independent of
for any
.
- stationary increments:
has the same distribution as
for any
.
- continuity in probability:
in probability as s tends to t.
More generally, it is possible to define the notion of a Lévy process with respect to a given filtered probability space . In that case, we also require that X is adapted to the filtration and that
is independent of
for all
. In particular, if X is a Lévy process according to definition 1 then it is also a Lévy process with respect to its natural filtration
. Note that slightly different definitions are sometimes used by different authors. It is often required that
is zero and that X has cadlag sample paths. These are minor points and, as will be shown, any process satisfying the definition above will admit a cadlag modification.
The most common example of a Lévy process is Brownian motion, where is normally distributed with zero mean and variance
independently of
. Other examples include Poisson processes, compound Poisson processes, the Cauchy process, gamma processes and the variance gamma process.
For example, the symmetric Cauchy distribution on the real numbers with scale parameter has probability density function p and characteristic function
given by,
(1) |
From the characteristic function it can be seen that if X and Y are independent Cauchy random variables with scale parameters and
respectively then
is Cauchy with parameter
. We can therefore consistently define a stochastic process
such that
has the symmetric Cauchy distribution with parameter
independent of
, for any
. This is called a Cauchy process, which is a purely discontinuous Lévy process. See Figure 1.
Lévy processes are determined by the triple , where
describes the covariance structure of the Brownian motion component, b is the drift component, and
describes the rate at which jumps occur. The distribution of the process is given by the Lévy-Khintchine formula, equation (3) below.
Theorem 2 (Lévy-Khintchine) Let X be a d-dimensional Lévy process. Then, there is a unique function
such that
(2) for all
and
. Also,
can be written as
(3) where
, b and
are uniquely determined and satisfy the following,
is a positive semidefinite matrix.
.
is a Borel measure on
with
and,
(4) Furthermore,
uniquely determine all finite distributions of the process
.
Conversely, if
is any triple satisfying the three conditions above, then there exists a Lévy process satisfying (2,3).
Proof: This result is a special case of Theorem 1 from the previous post, where it was shown that there is a continuous function ,
such that
and
Using independence and stationarity of the increments of X,
So, and, by continuity in t, this gives
. Taking
gives (2).
Again using Theorem 1 of the previous post, there is a uniquely determined triple such that
(5) |
Here, is a continuous function from
to
such that
is positive semidefinite for all
. Also,
is a continuous function from
to
and
is a Borel measure on
with
and
Taking ,
and defining
by
it can be seen that (3) follows from (5) with
, and that
satisfy the required conditions. Conversely, if (3) is satisfied, then taking
,
and
gives (5). Then, uniqueness of
implies that
are uniquely determined by (3).
Finally, if satisfy the required conditions, then taking
,
and
, Theorem 1 of the previous post says that there exists an independent increments process satisfying (5). This is then the required Lévy process. ⬜
The measure above is called the Lévy measure of X,
are referred to as the characteristics of X, and it is said to be purely discontinuous if
. Note that a Lévy process with zero Lévy measure
satisfies
, so is a Brownian motion with covariance matrix
and drift
.
As an example, consider the purely discontinuous real-valued Lévy process with characteristics and
. This satisfies (4), so determines a well-defined process. Using the Lévy-Khintchine formula we can compute its characteristic function,
Here, the identity is being used followed by the substitution
. Comparing this with the characteristic function (2) of the Cauchy distribution shows that X is the Cauchy process.
As mentioned above, Lévy processes are often taken to be cadlag by definition. However, Theorem 2 of the previous post states that all independent increments processes which are continuous in probability have a cadlag version.
Theorem 3 Every Lévy process has a cadlag modification.
We can go further than this.
Theorem 4 Every cadlag Lévy process is a semimartingale.
Proof: Theorem 2 of the previous post states that a cadlag Lévy process X decomposes as where Y is a semimartingale and W is a continuous centered Gaussian process with independent increments, hence a martingale. So, W is a semimartingale and so is X. ⬜
The characteristics of a Lévy process fully determine its finite distributions since, by equation (3), they determine the characteristic function of the increments of the process. The following theorem shows how the characteristics relate to the paths of the process and, in particular, the Lévy measure does indeed describe the jumps. This is just a specialization of Theorem 2 of the previous post to the stationary increments case.
Theorem 5 Let X be a cadlag d-dimensional Lévy process with characteristics
. Then,
- The process
(6) is integrable, and
. Furthermore,
is a martingale.
- The quadratic variation of X has continuous part
.
- For any nonnegative measurable
,
In particular, for any measurable
the process
(7) is almost surely infinite for all
whenever
is infinite, otherwise it is a homogeneous Poisson process of rate
. If
are disjoint measurable subsets of
then
are independent processes.
Furthermore, letting
be the predictable sigma-algebra and
be
-measurable such that
and
is integrable (resp. locally integrable) then,
(8) is a martingale (resp. local martingale).
Proof: The first statement follows directly from the first statement of Theorem 2 of the previous post.
Now apply the decomposition from the second statement of Theorem 2 of the previous post, where W has quadratic variation
and Y satisfies
. This gives
as required.
For the third statement above, define the measure on
. By the third statement of Theorem 2 of the previous post,
Also, as stated in Theorem 2 of the previous post, for a measurable , the random variable
is almost surely infinite whenever and Poisson distributed of rate
otherwise. Furthermore,
are independent whenever
are disjoint measurable subsets of
. We can apply this to the process
defined by (7).
If satisfies
then
is infinite for all
, so
is almost surely infinite. On the other hand, if
is finite, consider a sequence of times
. The increments of
are
which are independent and Poisson distributed with rates
. So,
is a homogeneous Poisson process of rate
.
If are disjoint measurable subsets of
, then
are Poisson processes (whenever
) and, by construction, no two can ever jump simultaneously. So, they are independent.
Finally, that (8) is a (local) martingale is given by the final statement of Theorem 2 of the previous post. ⬜
The following characterization of the purely discontinuous Lévy processes is an immediate consequence of the second statement of Theorem 5.
Corollary 6 A cadlag Lévy process X is purely discontinuous if and only if its quadratic variation has zero continuous part,
.
Any Lévy process decomposes uniquely into its continuous and purely discontinuous parts.
Lemma 7 A cadlag Lévy process X decomposes uniquely as
where W is a continuous centered Gaussian process with independent increments,
, and Y is a purely discontinuous Lévy process.
Furthermore, W and Y are independent and if X has characteristics
then W and Y have characteristics
and
respectively.
Proof: Theorem 2 of the previous post says that X decomposes uniquely as where W is a continuous centered Gaussian process with independent increments,
, and Y is a semimartingale with independent increments whose quadratic variation has zero continuous part
. Furthermore, W and
are independent Lévy processes with characteristics
and
respectively.
So, taking gives the required decomposition, satisfying the required properties. Conversely, supposing that
is any other such decomposition, uniqueness of the decomposition
gives
and
. ⬜
Recall that for any independent increments process X which is continuous in probability, the space-time process is Feller. For Lévy processes, where the increments of X are stationary, we can use a very similar proof to show that X itself is a Feller process.
Lemma 8 Let X be a d-dimensional Lévy process. For each
define the transition probability
on
by
for nonnegative measurable
.
Then, X is a Markov process with Feller transition function
.
Proof: To show that defines a Markov transition function, the Chapman-Kolmogorov equations
need to be verified. The stationary independent increments property gives
(9) |
for times . As the expectation is conditioned on
, we can replace x by any
-measurable random variable. In particular,
This gives
as required. So, defines a Markov transition function. Replacing x by
in (9) gives
so X is Markov with transition function .
It only remains needs to be shown that is Feller. That is, for
,
and
as
. Letting
tend to a limit
, bounded convergence gives
as . So,
is continuous. Similarly, if
then
tends to zero, giving
. So,
is in
.
Finally, if is a sequence of times tending to zero then
in probability, giving
as required. ⬜
Finally, we can calculate the infinitesimal generator of a Lévy process in terms of its characteristics.
Theorem 9 Let X be a d-dimensional Lévy process with characteristics
and define the operator A on the bounded and twice continuously differentiable functions
from
to
as
(10) Then,
is a local martingale for all
.
In equation (10) the summation convention is being used, so that if i or j appears twice in a single term then it is summed over the range .
Proof: Apply the generalized Ito formula to ,
(11) |
Now define the -measurable function g by
and let be the local martingale defined as in (8). Also, define Y by (6). Then, using the identity
, equation (11) can be rewritten as
As is a martingale, this shows that M is a local martingale. ⬜
In particular, if f is in the space of twice continuously differentiable functions vanishing at infinity and
then Theorem 9 shows that f is in the domain of the generator of the Feller process X, and A is the infinitesimal generator. So,
where convergence is uniform on . For any Lévy process for which the distribution of
is known, this allows us to compute
and, then, read off the Lévy characteristics. In particular, if
is twice continuously differentiable with compact support contained in
then,
Applying this to the Cauchy process, where has probability density function
, gives
So, the Cauchy process has Lévy measure , agreeing with the previous computation.
There is a minor typo I found when following your calculations regarding the characteristic exponent of the Cauchy process.
“Here, the identity eiax + e−iax – 2 = -4sin2(ax) is being used followed by the substitution … ”
The identity is eiax + e−iax – 2 = -4sin2(ax/2) (as you correctly use it subsequently). Thanks for the nice site!
Chris
Fixed. Thanks!
Hello, your posts are very interesting. By the way, I would like to ask you a question as follows:
Let X be a Levy processes with no positive jumps and
then we have
Could you explain that why? and does it hold for Levy process with no negative jumps? If X be Hunt process with no positive jumps then does this hold?
Thank you very much!
Hi. Strictly speaking that’s not true. If X0 > y then
and
. You can only conclude that
if you assume that X0 ≤ 0 or, alternatively, if you restrict to
. Then, the conclusion holds for any cadlag process, and is nothing specific to Lévy processes. In fact, you have
for any right-continuous process and
if it has left limits. If it also has no positive jumps then
.
Hallo, I have a question to George Lowther.
Do you know an easy proof of the fact that for two independent Levy processes $X$ and $Y$ the co-variation process $[X,Y]$ is equal to zero? I have a proof of this result but I feel that it is to complicated and I would like to make it shorter. Thank you very much.
Best regards,
Paolo
how can we get the value dv(x)?
What literature did you use in Theorem 5?
A Levy process has independent and stationary increments. In addition, it is assume to have cadlag paths or be continuous in probability (one implies the other, given independent and stationary increments).
If we drop the assumption on continuity in probability, what are we left with? Are there processes with independent and stationary increments that do not have a cadlag modification (i.e. a Levy modification)? I have been struggling to come up with an examples of such processes.
There are examples using the axiom of choice (i.e., assuming ZFC set theory). There are even deterministic examples, where
and X is not continuous (https://en.wikipedia.org/wiki/Cauchy's_functional_equation), but these are all non-measurable (see http://math.stackexchange.com/q/318523/1321) and use the axiom of choice in the construction. There are axiomatizations/models of set theory where all subsets of the reals are Lebesgue measurable (e.g., Solovay model) and then I think that the continuity condition in the definition of Levy processes would be superfluous. However, such axiomatizations do not allow the uncountable axiom of choice.
Thanks. Sounds to me that assuming stochastic continuity is then hardly a restriction at all, but rather serves to exclude some pathological cases.
Yes, I agree.
Hello, I have some question need your help: If given a random variable $xi$ with some special distribiution. Can we find a Levy process $X$ such that it admits $\xi$ as its running maximum up to exponential time $T$, i.e., $M_T:=max_{0\leq t\leq T} X_t$ has the same distribution as $\xi$. Where T is exponential distributed.
Thank you!