11.2 Consequences for least squares

Provided the regressors are exogenous, autocorrelation leaves least squares unbiased (Theorem 9.4.1). What it damages is the variance, and the damage is worst when the regressors themselves are smooth, as most economic time series are.

Theorem 11.2.1. In the model \(Y_t = \beta x_t + u_t\) with \(x_t\) non-stochastic, \(u_t\) a stationary AR(1) scheme, and least squares estimate \(b = \sum x_tY_t/\sum x_t^2\), \[ \Var (b) = \frac {\sigma _u^2}{\sum x_t^2}\left (1 + 2\sum _{s=1}^{n-1}\rho ^s\,\frac {\sum _{t=1}^{n-s}x_tx_{t+s}}{\sum _{t=1}^n x_t^2}\right ) . \] If the sample autocorrelations of the regressor are approximately \(\lambda ^s\), as they would be if \(x_t\) were itself an AR(1) series with parameter \(\lambda \), and \(n\) is large, then \[ \Var (b) \approx \frac {\sigma _u^2}{\sum x_t^2}\cdot \frac {1 + \rho \lambda }{1 - \rho \lambda }, \] while the conventional estimate \(s^2/\sum x_t^2\) has expectation close to \(\sigma _u^2/\sum x_t^2\).

Proof. \(b - \beta = \sum w_tu_t\) with \(w_t = x_t/\sum x_j^2\), so \[ \Var (b) = \sum _t\sum _{t'}w_tw_{t'}\Cov (u_t, u_{t'}) = \frac {\sigma _u^2}{\bigl (\sum x_j^2\bigr )^2}\sum _t\sum _{t'}x_tx_{t'}\rho ^{|t - t'|} . \] The terms with \(t = t'\) give \(\sum x_t^2\); those with \(|t - t'| = s \geq 1\) occur twice and give \(2\rho ^s\sum _{t=1}^{n-s}x_tx_{t+s}\). Dividing out one factor \(\sum x_t^2\) gives the first formula. With \(\sum _t x_tx_{t+s}/\sum x_t^2 \approx \lambda ^s\) and \(n\) large, \[ 1 + 2\sum _{s\geq 1}(\rho \lambda )^s = 1 + \frac {2\rho \lambda }{1 - \rho \lambda } = \frac {1 + \rho \lambda }{1 - \rho \lambda } . \] For \(s^2\), Theorem 5.2.1(iii) gives \(E(e'e) = \tr \bigl (M\sigma _u^2V\bigr )\), where \(V = (1 - \rho ^2)\Omega \) is the correlation matrix of \(U\). Since \(\tr (M V) = \tr V - \tr \bigl ((X'X)^{-1}X'VX\bigr ) = n - (1 + \rho \lambda )/(1 - \rho \lambda )\) approximately, \(E(s^2) \approx \sigma _u^2\bigl [n - (1 + \rho \lambda )/(1 - \rho \lambda )\bigr ]/(n - 1)\), which tends to \(\sigma _u^2\). □

The factor \((1 + \rho \lambda )/(1 - \rho \lambda )\) is the ratio of the true variance to the one the computer prints. Its square root, the ratio of the true standard error to the reported one, is:

\(\rho \) \(0.5\) \(0.8\) \(0.9\) \(0.5\) \(-0.5\)
\(\lambda \) \(0.5\) \(0.8\) \(0.9\) \(0.9\) \(0.8\)
true s.e. / reported s.e. \(1.29\) \(2.13\) \(3.09\) \(1.62\) \(0.65\)

With smooth regressors and positively autocorrelated disturbances, both common in macroeconomic data, the reported standard errors can be a third of the true ones, and \(t\) ratios three times too large. The error goes the other way only when \(\rho \) and \(\lambda \) have opposite signs. If the regressor has no autocorrelation (\(\lambda = 0\)), the conventional formula is approximately right, however large \(\rho \) is.

Spurious regression

An extreme form of the same problem arises when \(Y\) and \(x\) are both random walks and \(\rho = 1\). Granger and Newbold (1974) showed by simulation that two independent random walks regressed on each other give “significant” \(t\) ratios most of the time, with high \(R^2\) and very low Durbin–Watson statistics. Their rule of thumb, that \(R^2 > d\) is a warning sign, is explained in the section on unit roots.

A lagged dependent variable

When the regressors include \(Y_{t-1}\), autocorrelation does more than distort standard errors: least squares becomes inconsistent, because \(Y_{t-1}\) contains \(u_{t-1}\), which is correlated with \(u_t\).

Theorem 11.2.2. Let \(Y_t = \beta Y_{t-1} + u_t\) and \(u_t = \rho u_{t-1} + \varepsilon _t\), with \(|\beta | < 1\), \(|\rho | < 1\) and \(\varepsilon _t\) independent with mean zero and constant variance. Let \(b\) be the least squares estimator from regressing \(Y_t\) on \(Y_{t-1}\), and \(\hat r\) the first-order autocorrelation of its residuals. Then

(i)
\(\displaystyle \plim b = \frac {\beta + \rho }{1 + \beta \rho } = \beta + \frac {\rho (1 - \beta ^2)}{1 + \beta \rho }\);
(ii)
\(\displaystyle \plim \hat r = \frac {\beta \rho (\beta + \rho )}{1 + \beta \rho }\), which is smaller than \(\rho \) in absolute value unless \(\rho = 0\).

Proof. Multiply \(Y_t - \beta Y_{t-1} = u_t\) by \((1 - \rho L)\), where \(L\) is the lag operator: \((Y_t - \beta Y_{t-1}) - \rho (Y_{t-1} - \beta Y_{t-2}) = \varepsilon _t\), that is \[ Y_t = \phi _1Y_{t-1} + \phi _2Y_{t-2} + \varepsilon _t, \qquad \phi _1 = \beta + \rho , \quad \phi _2 = -\beta \rho . \] Its roots \(\beta \) and \(\rho \) lie inside the unit circle, so \(Y_t\) is a stationary AR(2) process. Multiplying by \(Y_{t-1}\) and taking expectations, with \(\varepsilon _t\) uncorrelated with the past, gives the Yule–Walker equation \(\gamma _1 = \phi _1\gamma _0 + \phi _2\gamma _1\), so the first autocorrelation is \(\rho _1 = \phi _1/(1 - \phi _2) = (\beta + \rho )/(1 + \beta \rho )\). By the law of large numbers for stationary processes, \(\plim b = \plim \bigl (\frac 1n\sum Y_tY_{t-1}\bigr )/\plim \bigl (\frac 1n\sum Y_{t-1}^2\bigr ) = \gamma _1/\gamma _0 = \rho _1\), which is (i).

(ii) Write \(p = \rho _1\) for the probability limit of \(b\), so that the residuals behave like \(e_t = Y_t - pY_{t-1}\). Using \(\gamma _1 = p\gamma _0\), \[ \Var (e_t) = \gamma _0(1 + p^2) - 2p\gamma _1 = \gamma _0(1 - p^2), \qquad \Cov (e_t, e_{t-1}) = \gamma _1(1 + p^2) - p(\gamma _0 + \gamma _2) = \gamma _0\,p\,(p^2 - \rho _2), \] where \(\rho _2 = \phi _1\rho _1 + \phi _2\) is the second Yule–Walker equation. Hence \(\plim \hat r = p(p^2 - \rho _2)/(1 - p^2)\), and substituting for \(p\) and \(\rho _2\) and simplifying gives the stated expression. Finally, for \(\rho \neq 0\) the inequality \(|\plim \hat r| < |\rho |\) is equivalent to \(\beta ^2(\beta + \rho )^2 < (1 + \beta \rho )^2\), and \[ (1 + \beta \rho )^2 - \beta ^2(\beta + \rho )^2 = (1 - \beta ^2)(1 + \beta ^2 + 2\beta \rho ) > 0 , \] since \(1 - \beta ^2 > 0\) and \(1 + \beta ^2 + 2\beta \rho \geq 1 + \beta ^2 - 2|\beta | = (1 - |\beta |)^2 > 0\). □

Example 11.2.3. With \(\beta = \rho = 0.5\), least squares converges to \(1/1.25 = 0.8\) instead of \(0.5\): the estimated persistence is far too high, and the long-run multiplier \(1/(1 - b)\) is \(5\) instead of \(2\). The residual autocorrelation converges to \(0.25 \times 1/1.25 = 0.2\), not \(0.5\), so the Durbin–Watson statistic of the next subsection tends to about \(2(1 - 0.2) = 1.6\), and gives little warning. The lagged dependent variable has absorbed most of the autocorrelation of the disturbance into its own coefficient.

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