Continuous Local Martingales

Continuous local martingales are a particularly well behaved subset of the class of all local martingales, and the results of the previous two posts become much simpler in this case. First, the continuous local martingale property is always preserved by stochastic integration.

Theorem 1 If X is a continuous local martingale and ${\xi}$ is X-integrable, then ${\int\xi\,dX}$ is a continuous local martingale.

Proof: As X is continuous, ${Y\equiv\int\xi\,dX}$ will also be continuous and, therefore, locally bounded. Then, by preservation of the local martingale property, Y is a local martingale. ⬜

Next, the quadratic variation of a continuous local martingale X provides us with a necessary and sufficient condition for X-integrability.

Theorem 2 Let X be a continuous local martingale. Then, a predictable process ${\xi}$ is X-integrable if and only if

$\displaystyle \int_0^t\xi^2\,d[X]<\infty$

for all ${t>0}$ .

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Quadratic Variations and the Ito Isometry

As local martingales are semimartingales, they have a well-defined quadratic variation. These satisfy several useful and well known properties, such as the Ito isometry, which are the subject of this post. First, the covariation [X,Y] allows the product XY of local martingales to be decomposed into local martingale and FV terms. Consider, for example, a standard Brownian motion B. This has quadratic variation ${[B]_t=t}$ and it is easily checked that ${B^2_t-t}$ is a martingale.

Lemma 1 If X and Y are local martingales then XY-[X,Y] is a local martingale.

In particular, ${X^2-[X]}$ is a local martingale for all local martingales X.

Proof: Integration by parts gives

$\displaystyle XY-[X,Y] = X_0Y_0+\int X_-\,dY+\int Y_-\,dX$

which, by preservation of the local martingale property, is a local martingale. ⬜

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Preservation of the Local Martingale Property

Now that it has been shown that stochastic integration can be performed with respect to any local martingale, we can move on to the following important result. Stochastic integration preserves the local martingale property. At least, this is true under very mild hypotheses. That the martingale property is preserved under integration of bounded elementary processes is straightforward. The generalization to predictable integrands can be achieved using a limiting argument. It is necessary, however, to restrict to locally bounded integrands and, for the sake of generality, I start with local sub and supermartingales.

Theorem 1 Let X be a local submartingale (resp., local supermartingale) and ${\xi}$ be a nonnegative and locally bounded predictable process. Then, ${\int\xi\,dX}$ is a local submartingale (resp., local supermartingale).

Proof: We only need to consider the case where X is a local submartingale, as the result will also follow for supermartingales by applying to -X. By localization, we may suppose that ${\xi}$ is uniformly bounded and that X is a proper submartingale. So, ${\vert\xi\vert\le K}$ for some constant K. Then, as previously shown there exists a sequence of elementary predictable processes ${\vert\xi^n\vert\le K}$ such that ${Y^n\equiv\int\xi^n\,dX}$ converges to ${Y\equiv\int\xi\,dX}$ in the semimartingale topology and, hence, converges ucp. We may replace ${\xi_n}$ by ${\xi_n\vee0}$ if necessary so that, being nonnegative elementary integrals of a submartingale, ${Y^n}$ will be submartingales. Also, ${\vert\Delta Y^n\vert=\vert\xi^n\Delta X\vert\le K\vert\Delta X\vert}$ . Recall that a cadlag adapted process X is locally integrable if and only its jump process ${\Delta X}$ is locally integrable, and all local submartingales are locally integrable. So,

$\displaystyle \sup_n\vert\Delta Y^n_t\vert\le K\vert\Delta X_t\vert$

is locally integrable. Then, by ucp convergence for local submartingales, Y will satisfy the local submartingale property. ⬜

For local martingales, applying this result to ${\pm X}$ gives,

Theorem 2 Let X be a local martingale and ${\xi}$ be a locally bounded predictable process. Then, ${\int\xi\,dX}$ is a local martingale.

This result can immediately be extended to the class of local ${L^p}$ -integrable martingales, denoted by ${\mathcal{M}^p_{\rm loc}}$ .

Corollary 3 Let ${X\in\mathcal{M}^p_{\rm loc}}$ for some ${0< p\le\infty}$ and ${\xi}$ be a locally bounded predictable process. Then, ${\int\xi\,dX\in\mathcal{M}^p_{\rm loc}}$ .

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Martingales are Integrators

A major foundational result in stochastic calculus is that integration can be performed with respect to any local martingale. In these notes, a semimartingale was defined to be a cadlag adapted process with respect to which a stochastic integral exists satisfying some simple desired properties. Namely, the integral must agree with the explicit formula for elementary integrands and satisfy bounded convergence in probability. Then, the existence of integrals with respect to local martingales can be stated as follows.

Theorem 1 Every local martingale is a semimartingale.

This result can be combined directly with the fact that FV processes are semimartingales.

Corollary 2 Every process of the form X=M+V for a local martingale M and FV process V is a semimartingale.

Working from the classical definition of semimartingales as sums of local martingales and FV processes, the statements of Theorem 1 and Corollary 2 would be tautologies. Then, the aim of this post is to show that stochastic integration is well defined for all classical semimartingales. Put in another way, Corollary 2 is equivalent to the statement that classical semimartingales satisfy the semimartingale definition used in these notes. The converse statement will be proven in a later post on the Bichteler-Dellacherie theorem, so the two semimartingale definitions do indeed agree.

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Semimartingale Completeness

A sequence of stochastic processes, ${X^n}$ , is said to converge to a process X under the semimartingale topology, as n goes to infinity, if the following conditions are met. First, ${X^n_0}$ should tend to ${X_0}$ in probability. Also, for every sequence ${\xi^n}$ of elementary predictable processes with ${\vert\xi^n\vert\le 1}$ ,

$\displaystyle \int_0^t\xi^n\,dX^n-\int_0^t\xi^n\,dX\rightarrow 0$

in probability for all times t. For short, this will be denoted by ${X^n\xrightarrow{\rm sm}X}$ .

The semimartingale topology is particularly well suited to the class of semimartingales, and to stochastic integration. Previously, it was shown that the cadlag and adapted processes are complete under semimartingale convergence. In this post, it will be shown that the set of semimartingales is also complete. That is, if a sequence ${X^n}$ of semimartingales converge to a limit X under the semimartingale topology, then X is also a semimartingale.

Theorem 1 The space of semimartingales is complete under the semimartingale topology.

The same is true of the space of stochastic integrals defined with respect to any given semimartingale. In fact, for a semimartingale X, the set of all processes which can be expressed as a stochastic integral ${\int\xi\,dX}$ can be characterized as follows; it is precisely the closure, under the semimartingale topology, of the set of elementary integrals of X. This result was originally due to Memin, using a rather different proof to the one given here. The method used in this post only relies on the elementary properties of stochastic integrals, such as the dominated convergence theorem.

Theorem 2 Let X be a semimartingale. Then, a process Y is of the form ${Y=\int\xi\,dX}$ for some ${\xi\in L^1(X)}$ if and only if there is a sequence ${\xi^n}$ of bounded elementary processes with ${\int\xi^n\,dX\xrightarrow{\rm sm}Y}$ .

Writing S for the set of processes of the form ${\int\xi\,dX}$ for bounded elementary ${\xi}$ , and ${\bar S}$ for its closure under the semimartingale topology, the statement of the theorem is equivalent to

$\displaystyle \bar S=\left\{\int\xi\,dX\colon \xi\in L^1(X)\right\}.$

(1)

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Further Properties of the Stochastic Integral

We move on to properties of stochastic integration which, while being fairly elementary, are rather difficult to prove directly from the definitions.

First, recall that for a semimartingale X, the X-integrable processes ${L^1(X)}$ were defined to be predictable processes ${\xi}$ which are ‘good dominators’. That is, if ${\xi^n}$ are bounded predictable processes with ${\vert\xi^n\vert\le\vert\xi\vert}$ and ${\xi^n\rightarrow 0}$ pointwise, then ${\int_0^t\xi^n\,dX}$ tends to zero in probability. This definition is a bit messy. Fortunately, the following result gives a much cleaner characterization of X-integrability.

Theorem 1 Let X be a semimartingale. Then, a predictable process ${\xi}$ is X-integrable if and only if the set

$\displaystyle \left\{\int_0^t\zeta\,dX\colon\zeta\in{\rm b}\mathcal{P},\vert\zeta\vert\le\vert\xi\vert\right\}$ (1)

is bounded in probability for each ${t\ge 0}$ .

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Existence of the Stochastic Integral 2 – Vector Valued Measures

The construction of the stochastic integral given in the previous post made use of a result showing that certain linear maps can be extended to vector valued measures. This result, Theorem 1 below, was separated out from the main argument in the construction of the integral, as it only involves pure measure theory and no stochastic calculus. For completeness of these notes, I provide a proof of this now.

Given a measurable space ${(E,\mathcal{E})}$ , ${{\rm b}\mathcal{E}}$ denotes the bounded ${\mathcal{E}}$ -measurable functions ${E\rightarrow{\mathbb R}}$ . For a topological vector space V, the term V-valued measure refers to linear maps ${\mu\colon{\rm b}\mathcal{E}\rightarrow V}$ satisfying the following bounded convergence property; if a sequence ${\alpha_n\in{\rm b}\mathcal{E}}$ (n=1,2,…) is uniformly bounded, so that ${\vert\alpha_n\vert\le K}$ for a constant K, and converges pointwise to a limit ${\alpha}$ , then ${\mu(\alpha_n)\rightarrow\mu(\alpha)}$ in V.

This differs slightly from the definition of V-valued measures as set functions ${\mu\colon\mathcal{E}\rightarrow V}$ satisfying countable additivity. However, any such set function also defines an integral ${\mu(\alpha)\equiv\int\alpha\,d\mu}$ satisfying bounded convergence and, conversely, any linear map ${\mu\colon{\rm b}\mathcal{E}\rightarrow V}$ satisfying bounded convergence defines a countably additive set function ${\mu(A)\equiv \mu(1_A)}$ . So, these definitions are essentially the same, but for the purposes of these notes it is more useful to represent V-valued measures in terms of their integrals rather than the values on measurable sets.

In the following, a subalgebra of ${{\rm b}\mathcal{E}}$ is a subset closed under linear combinations and pointwise multiplication, and containing the constant functions.

Theorem 1 Let ${(E,\mathcal{E})}$ be a measurable space, ${\mathcal{A}}$ be a subalgebra of ${{\rm b}\mathcal{E}}$ generating ${\mathcal{E}}$ , and V be a complete vector space. Then, a linear map ${\mu\colon\mathcal{A}\rightarrow V}$ extends to a V-valued measure on ${(E,\mathcal{E})}$ if and only if it satisfies the following properties for sequences ${\alpha_n\in\mathcal{A}}$ .

If ${\alpha_n\downarrow 0}$ then ${\mu(\alpha_n)\rightarrow 0}$ .

If ${\sum_n\vert\alpha_n\vert\le 1}$ , then ${\mu(\alpha_n)\rightarrow 0}$ .

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Existence of the Stochastic Integral

The principal reason for introducing the concept of semimartingales in stochastic calculus is that they are precisely those processes with respect to which stochastic integration is well defined. Often, semimartingales are defined in terms of decompositions into martingale and finite variation components. Here, I have taken a different approach, and simply defined semimartingales to be processes with respect to which a stochastic integral exists satisfying some necessary properties. That is, integration must agree with the explicit form for piecewise constant elementary integrands, and must satisfy a bounded convergence condition. If it exists, then such an integral is uniquely defined. Furthermore, whatever method is used to actually construct the integral is unimportant to many applications. Only its elementary properties are required to develop a theory of stochastic calculus, as demonstrated in the previous posts on integration by parts, Ito’s lemma and stochastic differential equations.

The purpose of this post is to give an alternative characterization of semimartingales in terms of a simple and seemingly rather weak condition, stated in Theorem 1 below. The necessity of this condition follows from the requirement of integration to satisfy a bounded convergence property, as was commented on in the original post on stochastic integration. That it is also a sufficient condition is the main focus of this post. The aim is to show that the existence of the stochastic integral follows in a relatively direct way, requiring mainly just standard measure theory and no deep results on stochastic processes.

Recall that throughout these notes, we work with respect to a complete filtered probability space ${(\Omega,\mathcal{F},\{\mathcal{F}_t\}_{t\ge 0},{\mathbb P})}$ . To recap, elementary predictable processes are of the form

$\displaystyle \xi_t=Z_01_{\{t=0\}}+\sum_{k=1}^n Z_k1_{\{s_{k}<t\le t_k\}}$

(1)

for an ${\mathcal{F}_0}$ -measurable random variable ${Z_0}$ , real numbers ${s_k,t_k\ge 0}$ and ${\mathcal{F}_{s_k}}$ -measurable random variables ${Z_k}$ . The integral with respect to any other process X up to time t can be written out explicitly as,

$\displaystyle \int_0^t\xi\,dX = \sum_{k=1}^n Z_k(X_{t_k\wedge t}-X_{s_k\wedge t}).$

(2)

The predictable sigma algebra, ${\mathcal{P}}$ , on ${{\mathbb R}_+\times\Omega}$ is generated by the set of left-continuous and adapted processes or, equivalently, by the elementary predictable process. The idea behind stochastic integration is to extend this to all bounded and predictable integrands ${\xi\in{\rm b}\mathcal{P}}$ . Other than agreeing with (2) for elementary integrands, the only other property required is bounded convergence in probability. That is, if ${\xi^n\in{\rm b}\mathcal{P}}$ is a sequence uniformly bounded by some constant K, so that ${\vert\xi^n\vert\le K}$ , and converging to a limit ${\xi}$ then, ${\int_0^t\xi^n\,dX\rightarrow\int_0^t\xi\,dX}$ in probability. Nothing else is required. Other properties, such as linearity of the integral with respect to the integrand follow from this, as was previously noted. Note that we are considering two random variables to be the same if they are almost surely equal. Similarly, uniqueness of the stochastic integral means that, for each integrand, the integral is uniquely defined up to probability one.

Using the definition of a semimartingale as a cadlag adapted process with respect to which the stochastic integral is well defined for bounded and predictable integrands, the main result is as follows. To be clear, in this post all stochastic processes are real-valued.

Theorem 1 A cadlag adapted process X is a semimartingale if and only if, for each ${t\ge 0}$ , the set

$\displaystyle \left\{\int_0^t\xi\,dX\colon \xi{\rm\ is\ elementary}, \vert\xi\vert\le 1\right\}$ (3)

is bounded in probability.

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SDEs with Locally Lipschitz Coefficients

In the previous post it was shown how the existence and uniqueness of solutions to stochastic differential equations with Lipschitz continuous coefficients follows from the basic properties of stochastic integration. However, in many applications, it is necessary to weaken this condition a bit. For example, consider the following SDE for a process X

$\displaystyle dX_t =\sigma \vert X_{t-}\vert^{\alpha}\,dZ_t,$

where Z is a given semimartingale and ${\sigma,\alpha}$ are fixed real numbers. The function ${f(x)\equiv\sigma\vert x\vert^\alpha}$ has derivative ${f^\prime(x)=\sigma\alpha {\rm sgn}(x)|x|^{\alpha-1}}$ which, for ${\alpha>1}$ , is bounded on bounded subsets of the reals. It follows that f is Lipschitz continuous on such bounded sets. However, the derivative of f diverges to infinity as x goes to infinity, so f is not globally Lipschitz continuous. Similarly, if ${\alpha<1}$ then f is Lipschitz continuous on compact subsets of ${{\mathbb R}\setminus\{0\}}$ , but not globally Lipschitz. To be more widely applicable, the results of the previous post need to be extended to include such locally Lipschitz continuous coefficients.

In fact, uniqueness of solutions to SDEs with locally Lipschitz continuous coefficients follows from the global Lipschitz case. However, solutions need only exist up to a possible explosion time. This is demonstrated by the following simple non-stochastic differential equation

$\displaystyle dX= X^2\,dt.$

For initial value ${X_0=x>0}$ , this has the solution ${X_t=(x^{-1}-t)^{-1}}$ , which explodes at time ${t=x^{-1}}$ . Continue reading “SDEs with Locally Lipschitz Coefficients” →

Existence of Solutions to Stochastic Differential Equations

A stochastic differential equation, or SDE for short, is a differential equation driven by one or more stochastic processes. For example, in physics, a Langevin equation describing the motion of a point ${X=(X^1,\ldots,X^n)}$ in n-dimensional phase space is of the form

$\displaystyle \frac{dX^i}{dt} = \sum_{j=1}^m a_{ij}(X)\eta^j(t) + b_i(X).$

(1)

The dynamics are described by the functions ${a_{ij},b_i\colon{\mathbb R}^n\rightarrow{\mathbb R}}$ , and the problem is to find a solution for X, given its value at an initial time. What distinguishes this from an ordinary differential equation are random noise terms ${\eta^j}$ and, consequently, solutions to the Langevin equation are stochastic processes. It is difficult to say exactly how ${\eta^j}$ should be defined directly, but we can suppose that their integrals ${B^j_t=\int_0^t\eta^j(s)\,ds}$ are continuous with independent and identically distributed increments. A candidate for such a process is standard Brownian motion and, up to constant scaling factor and drift term, it can be shown that this is the only possibility. However, Brownian motion is nowhere differentiable, so the original noise terms ${\eta^j=dB^j_t/dt}$ do not have well defined values. Instead, we can rewrite equation (1) is terms of the Brownian motions. This gives the following SDE for an n-dimensional process ${X=(X^1,\ldots,X^n)}$

$\displaystyle dX^i_t = \sum_{j=1}^m a_{ij}(X_t)\,dB^j_t + b_i(X_t)\,dt$

(2)

where ${B^1,\ldots,B^m}$ are independent Brownian motions. This is to be understood in terms of the differential notation for stochastic integration. It is known that if the functions ${a_{ij}, b_i}$ are Lipschitz continuous then, given any starting value for X, equation (2) has a unique solution. In this post, I give a proof of this using the basic properties of stochastic integration as introduced over the past few posts.

First, in keeping with these notes, equation (2) can be generalized by replacing the Brownian motions ${B^j}$ and time t by arbitrary semimartingales. As always, we work with respect to a complete filtered probability space ${(\Omega,\mathcal{F},\{\mathcal{F}_t\}_{t\ge 0},{\mathbb P})}$ . In integral form, the general SDE for a cadlag adapted process ${X=(X^1,\ldots,X^n)}$ is as follows,

$\displaystyle X^i = N^i + \sum_{j=1}^m\int a_{ij}(X)\,dZ^j.$

(3)

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	Anonymous on Spitzer’s Formula
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	Anonymous on Spitzer’s Formula