3.1 Introduction
A Markov chain is a time-homogeneous discrete-time Markov process \(\{X_n : n = 0, 1, 2, \dots \}\) with a countable state space, which we take to be \(S = \{0, 1, 2, \dots \}\) (or a finite subset of it). By homogeneity, \[P(X_{n + 1} = j\mid X_n = i) = P(X_1 = j\mid X_0 = i) = P_{ij}\] for all \(n\); \(P_{ij}\) is the one-step transition probability from \(i\) to \(j\). These satisfy
- (i)
- \(P_{ij}\geq 0\) for all \(i\) and \(j\), and
- (ii)
- \(\sum _jP_{ij} = 1\) for every \(i\), since from state \(i\) the chain must go somewhere.
They are collected in the transition matrix \[P = \begin {pmatrix} P_{00} & P_{01} & P_{02} & \cdots \\ P_{10} & P_{11} & P_{12} & \cdots \\ P_{20} & P_{21} & P_{22} & \cdots \\ \vdots & \vdots & \vdots & \end {pmatrix},\] whose entries are non-negative and whose rows each sum to \(1\). A matrix with these properties is called stochastic.
Example 3.1.1. Write down a transition matrix for each of the following.
- (a)
- If it rains today it rains tomorrow with probability \(\alpha \); if it does not rain today it rains tomorrow with probability \(\beta \).
- (b)
- Whether it rains tomorrow depends on the last two days: with probability \(0.7\) if it rained on both, \(0.5\) if it rained today but not yesterday, \(0.4\) if it rained yesterday but not today, and \(0.2\) if it rained on neither.
- (c)
- Balls are thrown one at a time into \(k\) cells, each cell equally likely; \(X_n\) is the number of occupied cells after \(n\) throws.
- (d)
- An urn contains four balls, each black or white. A ball is drawn at random. A white ball is always returned; a black ball is returned with probability \(1 - p\) and replaced by a white ball with probability \(p\). \(X_n\) is the number of black balls after \(n\) draws.
- (e)
- A company has three machines. During each day each working machine breaks down with probability \(p\), independently. Overnight one repair person mends one broken machine, if there is one. \(X_n\) is the number of machines working at the start of day \(n\).
Solution.
- (a)
- With states \(R\) (rain) and \(N\) (no rain), \[P = \bordermatrix {~ & R & N\cr R & \alpha & 1 - \alpha \cr N & \beta & 1 - \beta \cr } .\]
- (b)
- Tomorrow’s weather depends on two days, so the weather alone is not Markov. Take the state to be the pair (yesterday, today); then the next state is (today, tomorrow), which depends only on the current pair. Writing \(\bar R\) for no rain, \[P = \bordermatrix {~ & RR & R\bar R & \bar RR & \bar R\bar R\cr RR & 0.7 & 0.3 & 0 & 0\cr R\bar R & 0 & 0 & 0.4 & 0.6\cr \bar RR & 0.5 & 0.5 & 0 & 0\cr \bar R\bar R & 0 & 0 & 0.2 & 0.8\cr } .\] For instance from \(R\bar R\) (rain yesterday, none today) the next state is \(\bar RR\) if it rains tomorrow, with probability \(0.4\), and \(\bar R\bar R\) otherwise. Enlarging the state space to recover the Markov property is a standard device.
- (c)
- With \(i\) cells occupied, the next ball lands in an occupied cell with probability \(\frac ik\) and in an empty one with probability \(\frac {k - i}{k}\). So \(P_{i,i} = \frac ik\) and \(P_{i,i + 1} = \frac {k - i}{k}\) for \(i = 0, 1, \dots , k\), all other entries being zero; state \(k\) is absorbing.
- (d)
- With \(i\) black balls the number falls to \(i - 1\) only if a black ball is drawn and replaced by a white one, with probability \(\frac i4p\). So for \(i = 0, \dots , 4\), \[P_{i,i - 1} = \frac {ip}{4},\qquad P_{i,i} = 1 - \frac {ip}{4} .\]
- (e)
- If \(i\) machines work at the start of a day, the number \(B\) that break down is binomial with parameters \(i\) and \(p\). At night one broken machine is mended if any machine is broken, so the next state is \(\min (3, i - B + 1)\). The states are \(1, 2, 3\) (if the chain starts at \(3\), at least one machine is always working the next morning), and \[P = \bordermatrix {~ & 1 & 2 & 3\cr 1 & p & 1 - p & 0\cr 2 & p^2 & 2p(1 - p) & (1 - p)^2\cr 3 & p^3 & 3p^2(1 - p) & (1 - p)^3 + 3p(1 - p)^2\cr } .\] Each row sums to \(1\); in the last row, for example, it is the binomial expansion of \(\left [p + (1 - p)\right ]^3\).
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