2.3 The Information Inequality
How small can the variance of an unbiased estimator be? For a regular model the answer is given by the information inequality, also called the Cramér–Rao inequality.
Theorem 2.3.1 (Information inequality). Let \(T(X)\) be an unbiased estimator of \(\tau (\theta )\) in a regular model with scalar parameter \(\theta \), and suppose \(E_\theta (T^2)<\infty \) and that \(\frac {d}{d\theta }\int T(x)f_\theta (x)\,dx = \int T(x)\frac {\partial }{\partial \theta }f_\theta (x)\,dx\). Then \[\var _\theta (T)\ge \frac {\left [\tau '(\theta )\right ]^2}{J(\theta )} .\] Equality holds for all \(\theta \) if and only if \(f_\theta \) is an exponential family with natural sufficient statistic a linear function of \(T\), that is, \(T = a(\theta )S(\theta ; X) + \tau (\theta )\) for some \(a(\theta )\).
Proof. Differentiate \(\int T(x)f_\theta (x)\,dx = \tau (\theta )\) under the integral sign: \[\tau '(\theta ) = \int T(x)\frac {\partial f_\theta (x)}{\partial \theta }\,dx = \int T(x)\,S(\theta ; x)\,f_\theta (x)\,dx = E_\theta \left [T\,S(\theta ; X)\right ].\] Since \(E_\theta (S) = 0\) (theorem 2.2.1), this is \(\cov _\theta (T, S) = \tau '(\theta )\). By the Cauchy–Schwarz inequality, \begin {equation} \label {eq:cauchyschwarz} \left [\cov (T, S)\right ]^2\le \var (T)\var (S), \end {equation} that is, \(\left [\tau '(\theta )\right ]^2\le \var _\theta (T)J(\theta )\), which is the inequality.
Equality in (2.3) holds if and only if \(T\) and \(S\) are linearly related with probability one: \(S(\theta ; x) = A_1(\theta )T(x) + A_2(\theta )\). Integrating with respect to \(\theta \), \[\ln f_\theta (x) = C_1(\theta )T(x) + C_2(\theta ) + C_3(x),\] where the “constant” of integration \(C_3\) may depend on \(x\). Hence \[f_\theta (x) = e^{C_2(\theta )}\exp \left \{C_1(\theta )T(x)\right \}e^{C_3(x)},\] an exponential family with natural sufficient statistic \(T\). Conversely, in such a family the score is linear in \(T\), and equality holds. □
Definition 2.3.2. The number \(\frac {\left [\tau '(\theta )\right ]^2}{J(\theta )}\) is the Cramér–Rao lower bound (CRLB) for unbiased estimators of \(\tau (\theta )\). An unbiased estimator whose variance equals the bound is efficient. The efficiency of an unbiased estimator \(T\) is \(\frac {\text {CRLB}}{\var _\theta (T)}\le 1\).
For \(\tau (\theta ) = \theta \) the bound is \(\frac {1}{J(\theta )}\). The theorem says that the bound can be attained only for one function \(\tau \) (up to linear transformations) and only in an exponential family. An estimator can be the UMVUE without attaining it, as example 2.3.4 shows.
Example 2.3.3. Let \(X_1, \dots , X_n\) be a random sample from \(\text {POI}(\theta )\). Show that the UMVUE of \(\theta \) attains the CRLB.
Solution. \(T = \sum X_i\) is complete and sufficient (example 1.6.5) and \(E(\bar X) = \theta \), so \(\bar X\) is the UMVUE. From example 2.1.3, \(J(\theta ) = \frac n\theta \), so the CRLB is \(\frac \theta n = \var (\bar X)\). Alternatively, the Poisson is an exponential family with natural sufficient statistic \(\sum X_i\), of which \(\bar X\) is a linear function, so equality holds by theorem 2.3.1.
Example 2.3.4. Let \(X_1, \dots , X_n\) (\(n\ge 3\)) be a random sample from \(f_\theta (x) = \theta x^{\theta - 1}\), \(0<x<1\), \(\theta >0\).
- (a)
- Show that the UMVUE of \(\theta \) does not attain the CRLB, and find its efficiency.
- (b)
- Find the CRLB for unbiased estimators of \(\tau (\theta ) = \theta (1 - \theta )\).
Solution.
- (a)
- \(f_\theta (x) = \theta \exp \{\theta \ln x\}\cdot \frac 1x\) is a REF with \(\eta = \theta >0\) and natural statistic \(\ln x\). So \(\sum \ln X_i\), or equivalently \(T = -\sum \ln X_i\), is complete and sufficient. Since \(P(-\ln X>y) = P(X<e^{-y}) = e^{-\theta y}\), each \(-\ln X_i\) is exponential with mean \(\frac 1\theta \), and \(T\sim \text {GAM}\left (n, \frac 1\theta \right )\). By problem 1.2.1, \[E(T^{-1}) = \frac {\theta \,\Gamma (n - 1)}{\Gamma (n)} = \frac {\theta }{n - 1},\qquad E(T^{-2}) = \frac {\theta ^2\Gamma (n - 2)}{\Gamma (n)} = \frac {\theta ^2}{(n - 1)(n - 2)} .\] So \(\frac {n - 1}{T}\) is unbiased, and being a function of \(T\) it is the UMVUE. Its variance is \[(n - 1)^2\left [\frac {\theta ^2}{(n - 1)(n - 2)} - \frac {\theta ^2}{(n - 1)^2}\right ] = \theta ^2\left [\frac {n - 1}{n - 2} - 1\right ] = \frac {\theta ^2}{n - 2} .\] For one observation \(\mathcal {L}_1 = \ln \theta + (\theta - 1)\ln x\), \(I_1 = \frac {1}{\theta ^2}\), so \(J(\theta ) = \frac {n}{\theta ^2}\) and the CRLB is \(\frac {\theta ^2}{n}<\frac {\theta ^2}{n - 2}\). The bound is not attained, as theorem 2.3.1 predicts, since \(\frac {n - 1}{T}\) is not a linear function of \(T\). The efficiency is \[\frac {\theta ^2/n}{\theta ^2/(n - 2)} = \frac {n - 2}{n}\longrightarrow 1,\] so the UMVUE is asymptotically efficient.
- (b)
- \(\tau '(\theta ) = 1 - 2\theta \), so the CRLB is \(\frac {(1 - 2\theta )^2}{n/\theta ^2} = \frac {\theta ^2(1 - 2\theta )^2}{n}\).
Example 2.3.5. For a random sample from the exponential distribution with mean \(\theta \), which of \(\theta \) and \(\frac 1\theta \) has an efficient unbiased estimator?
Solution. By example 2.2.3, \(J(\theta ) = \frac {n}{\theta ^2}\). For \(\tau (\theta ) = \theta \) the CRLB is \(\frac {\theta ^2}{n} = \var (\bar X)\), so \(\bar X\) is efficient; it is a linear function of the natural sufficient statistic \(\sum X_i\). For \(\tau (\theta ) = \frac 1\theta \), \(\tau '(\theta ) = -\frac {1}{\theta ^2}\) and the CRLB is \(\frac {1}{n\theta ^2}\). The UMVUE is \(\frac {n - 1}{T}\) (example 1.6.16), and by the calculation of example 2.3.4 with \(\theta \) replaced by \(\frac 1\theta \) its variance is \(\frac {1}{(n - 2)\theta ^2}\), larger than the bound. Only \(\theta \) (and linear functions of it) can be estimated efficiently.
Problem 2.3.1. For each of the following, determine whether the variance of the \(UMVUE\) of \(\theta \) based on a random sample \(X_1, \, \cdots \, , \, X_n\) achieve the Cramer Rao Lower bound and find the efficiency of the \(UMVUE\). For each case find the \(CRLB\) for variances of unbiased estimators of \(\theta ^2\).
- \(N(\theta ,\mu )\)
- \(BIN(1,\theta )\)
- \(N(0,\theta ^2)\)
- \(N(0,\theta )\)
Show solution
Solution. Throughout, \(T=\sum _{i=1}^{n}X_i^{2}\) where it appears, and the bound for a target \(\tau (\theta )\) is \(\left [\tau '(\theta )\right ]^{2}/I_n(\theta )\).
(a) \(N(\theta ,\mu )\), variance \(\mu \) known
\(I_n(\theta )=n/\mu \); the UMVUE is \(\overline {X}\) with variance \(\mu /n\). The bound is \(\mu /n\), so it is attained and the efficiency is \(1\). For \(\tau =\theta ^{2}\) the bound is \(\left (2\theta \right )^{2}\mu /n = 4\theta ^{2}\mu /n\).
(b) BIN\((1,\theta )\)
\(I_n(\theta )=n/\left [\theta (1-\theta )\right ]\); the UMVUE is \(\overline {X}\) with variance \(\theta (1-\theta )/n\), equal to the bound. Efficiency \(1\). For \(\tau =\theta ^{2}\) the bound is \(4\theta ^{2}\cdot \theta (1-\theta )/n = 4\theta ^{3}(1-\theta )/n\).
(c) \(N\left (0,\theta ^{2}\right )\)
Here \(\theta \) is the standard deviation. Per observation \(-E\left [\partial ^{2}\log f/\partial \theta ^{2}\right ] = 2/\theta ^{2}\), so \(I_n(\theta )=2n/\theta ^{2}\) and the bound for \(\theta \) is \(\theta ^{2}/(2n)\). The UMVUE is \(c_n\sqrt {T}\) with \(c_n = \Gamma (n/2)\big /\left [\sqrt 2\,\Gamma \left ((n+1)/2\right )\right ]\), and its variance is \(\theta ^{2}\left (nc_n^{2}-1\right )\), which is strictly larger. The bound is not attained; the efficiency \(1\big /\left [2n\left (nc_n^{2}-1\right )\right ]\) equals \(0.915\) at \(n=2\), \(0.977\) at \(n=10\) and \(0.998\) at \(n=100\) — so it rises to one only in the limit. For \(\tau =\theta ^{2}\) the bound is \(\left (2\theta \right )^{2}\theta ^{2}/(2n) = 2\theta ^{4}/n\), and this one is attained, by \(T/n\).
(d) \(N(0,\theta )\)
Now \(\theta \) is the variance. Per observation the information is \(1/\left (2\theta ^{2}\right )\), so \(I_n(\theta )=n/\left (2\theta ^{2}\right )\) and the bound for \(\theta \) is \(2\theta ^{2}/n\). The UMVUE is \(T/n\) with variance \(2\theta ^{2}/n\): attained, efficiency \(1\). For \(\tau =\theta ^{2}\) the bound is \(4\theta ^{2}\cdot 2\theta ^{2}/n = 8\theta ^{4}/n\).
Remark. Parts (c) and (d) are the same model written with different parameters, and they answer the question differently. The bound is attained exactly when the score is an affine function of the estimator, which for an exponential family happens for the mean of the natural sufficient statistic and for nothing else. That statistic is \(\sum X_i^{2}\), whose mean is \(n\theta ^{2}\) in (c) and \(n\theta \) in (d) — so the bound is attained for \(\theta ^{2}\) in (c) and for \(\theta \) in (d). Attainability is a property of the parameterisation, not of the model.
The inequality extends to vector parameters.
Theorem 2.3.6 (Information inequality, vector parameter). Let \(\theta = (\theta _1, \dots , \theta _k)^{\mathsf T}\), let \(T(X)\) be an unbiased estimator of \(\tau (\theta )\) in a regular model with positive definite Fisher information \(J(\theta )\), and let \(D(\theta ) = \left (\frac {\partial \tau }{\partial \theta _1}, \dots , \frac {\partial \tau }{\partial \theta _k}\right )^{\mathsf T}\). Then for all \(\theta \in \Omega \) \[\var _\theta (T)\ge D(\theta )^{\mathsf T}J(\theta )^{-1}D(\theta ) .\]
Proof. Let \(S(\theta ,X)\) be the score vector, so that \(E_{\theta }\left [S\right ]=0\) and \(\var _{\theta }(S)=J(\theta )\). Differentiating the unbiasedness identity \(E_{\theta }\left [T(X)\right ]=\tau (\theta )\) with respect to \(\theta _j\) and interchanging derivative and integral, which regularity permits, \[\frac {\partial \tau }{\partial \theta _j} = \int T(x)\,\frac {\partial }{\partial \theta _j} f_{\theta }(x)\,dx = \int T(x)\, S_j(\theta ,x)\, f_{\theta }(x)\,dx = \cov _{\theta }\!\left (T, S_j\right ),\] the last equality because \(E_{\theta }\left [S_j\right ]=0\). Collecting the \(k\) components, \(\cov _{\theta }(T,S) = D(\theta )\).
Now take any fixed vector \(c\in \mathbb {R}^{k}\) and apply the Cauchy–Schwarz inequality to the scalar random variables \(T\) and \(c^{t}S\): \[\left [\cov _{\theta }\!\left (T,\, c^{t}S\right )\right ]^{2} \;\leq \; \var _{\theta }(T)\ \var _{\theta }\!\left (c^{t}S\right ),\] that is \[\left (c^{t}D\right )^{2} \;\leq \; \var _{\theta }(T)\ c^{t}J(\theta )\,c .\] Choose \(c = J^{-1}(\theta )\,D(\theta )\), which is legitimate because \(J(\theta )\) is positive definite in a regular model. Then \(c^{t}D = D^{t}J^{-1}D\) and \(c^{t}Jc = D^{t}J^{-1}JJ^{-1}D = D^{t}J^{-1}D\), so the inequality reads \[\left (D^{t}J^{-1}D\right )^{2} \;\leq \; \var _{\theta }(T)\ D^{t}J^{-1}D .\] Since \(J^{-1}\) is positive definite, \(D^{t}J^{-1}D>0\) unless \(D=0\), and dividing through gives \[\var _{\theta }(T) \;\geq \; D(\theta )^{t}\,J^{-1}(\theta )\,D(\theta ).\] If \(D=0\) the inequality is trivial. □
Remark. The scalar case is \(k=1\), where \(D=\tau '(\theta )\) and the bound collapses to \(\left [\tau '(\theta )\right ]^{2}/J(\theta )\). Equality holds exactly when \(T\) is an affine function of the score, which is why the bound is attained in exponential families and generally is not attained outside them.
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