Econometrics 2 - Lecture 5 Multi-equation Models Contents nSystems of Equations nVAR Models nSimultaneous Equations and VAR Models nVAR Models and Cointegration nVEC Model: Cointegration Tests nVEC Model: Specification and Estimation n n n n n April 9, 2013 Hackl, Econometrics 2, Lecture 5 2 Multiple Dependent Variables April 9, 2013 Hackl, Econometrics 2, Lecture 5 3 Economic processes: simultaneous and interrelated development of a multiple set of variables Examples: nHouseholds consume a set of commodities (food, durables, etc.); the demanded quantities depend on the prices of commodities, the household income, the number of persons living in the household, etc.; a consumption model includes a set of dependent variables and a common set of explanatory variables. nThe market of a product is characterized by (a) the demanded and supplied quantity and (b) the price of the product; a model for the market consists of equations representing the development and interdependencies of these variables. nAn economy consists of markets for commodities, labour, finances, etc.; a model for a sector or the full economy contains descriptions of the development of the relevant variables and their interactions. Systems of Regression Equations April 9, 2013 Hackl, Econometrics 2, Lecture 5 4 Economic processes involve the simultaneous developments as well as interrelations of a set of dependent variables nFor modelling an economic process a system of relations, typically in the form of regression equations: multi-equation model Example: Two dependent variables yt1 and yt2 are modelled as yt1 = x‘t1β1 + εt1 yt2 = x‘t2β2 + εt2 with V{εti} = σi2 for i = 1, 2, Cov{εt1, εt2} = σ12 ≠ 0 Typical situations: 1.The set of regressors xt1 and xt2 coincide 2.The set of regressors xt1 and xt2 differ, may overlap 3.Regressors contain one or both dependent variables 4.Regressors contain lagged variables Types of Multi-equation Models April 9, 2013 Hackl, Econometrics 2, Lecture 5 5 Multivariate regression or multivariate multi-equation model nA set of regression equations, each explaining one of the dependent variables qPossibly common explanatory variables qSeemingly unrelated regression (SUR) model: each equation is a valid specification of a linear regression, related to other equations only by the error terms qSee cases 1 and 2 of “typical situations” (slide 4) Simultaneous equations models nDescribe the relations within the system of economic variables qin form of model equations qSee cases 3 and 4 of “typical situations” (slide 4) Error terms: dependence structure is specified by means of second moments or as joint probability distribution Capital Asset Pricing Model April 9, 2013 Hackl, Econometrics 2, Lecture 5 6 Capital asset pricing (CAP) model: describes the return Ri of asset i Ri - Rf = βi(E{Rm} – Rf) + εi with qRf: return of a risk-free asset qRm: return of the market portfolio nβi: indicates how strong fluctuations of the returns of asset i are determined by fluctuations of the market as a whole nKnowledge of the return difference Ri - Rf will give information on the return difference Rj - Rf of asset j, at least for some assets nAnalysis of a set of assets i = 1, …, s qThe error terms εi, i = 1, …, s, represent common factors, have a common dependence structure qEfficient use of information: simultaneous analysis A Model for Investment nGrunfeld investment data [Greene, (2003), Chpt.13; Grunfeld & Griliches (1960)]: Panel data set on gross investments Iit of firms i = 1, ..., 6 over 20 years and related data nInvestment decisions are assumed to be determined by n Iit = βi1 + βi2Fit + βi3Cit + εit n with qFit: market value of firm at the end of year t-1 qCit: value of stock of plant and equipment at the end of year t-1 nSimultaneous analysis of equations for the various firms i: efficient use of information qError terms for the firms include common factors such as economic climate qCoefficients may be the same for the firms April 9, 2013 Hackl, Econometrics 2, Lecture 5 7 The Hog Market April 9, 2013 Hackl, Econometrics 2, Lecture 5 8 Model equations: Qd = α1 + α2P + α3Y + ε1 (demand equation) Qs = β1 + β2P + β3Z + ε2 (supply equation) Qd = Qs (equilibrium condition) with Qd: demanded quantity, Qs: supplied quantity, P: price, Y: income, and Z: costs of production, or Q = α1 + α2P + α3Y + ε1 (demand equation) Q = β1 + β2P + β3Z + ε2 (supply equation) nModel describes quantity and price of the equilibrium transactions nModel determines simultaneously Q and P, given Y and Z nError terms qMay be correlated: Cov{ε1, ε2} ≠ 0 nSimultaneous analysis necessary for efficient use of information Klein‘s Model I April 9, 2013 Hackl, Econometrics 2, Lecture 5 9 1.Ct = α1 + α2Pt + α3Pt-1 + α4(Wtp+ Wtg) + εt1 (consumption) 2.It = β1 + β2Pt + β3Pt-1 + β4Kt-1 + εt2 (investment) 3.Wtp = γ1 + γ2Xt + γ3Xt-1 + γ4t + εt3 (wages) 4.Xt = Ct + It + Gt 5.Kt = It + Kt-1 6.Pt = Xt – Wtp – Tt with C (consumption), P (profits), Wp (private wages), Wg (governmental wages), I (investment), K-1 (capital stock), X (national product), G (governmental demand), T (taxes) and t [time (year-1936)] nModel determines simultaneously C, I, Wp, X, K, and P nSimultaneous analysis necessary in order to take dependence structure of error terms into account: efficient use of information n Examples of Multi-equation Models April 9, 2013 Hackl, Econometrics 2, Lecture 5 10 Multivariate regression models nCapital asset pricing (CAP) model: for all assets, return Ri is a function of E{Rm} – Rf; dependence structure of the error terms caused by common variables nModel for investment: firm-specific regressors, dependence structure of the error terms like in CAP model nSeemingly unrelated regression (SUR) models Simultaneous equations models nHog market model: endogenous regressors, dependence structure of error terms nKlein’s model I: endogenous regressors, dynamic model, dependence of error terms from different equations and possibly over time Single- vs. Multi-equation Models April 9, 2013 Hackl, Econometrics 2, Lecture 5 11 Complications for estimation of parameters of multi-equation models: nDependence structure of error terms nViolation of exogeneity of regressors Example: Hog market model, demand equation Q = α1 + α2P + α3Y + ε1 nCovariance matrix of ε = (ε1, ε2)’ n n nP is not exogenous: Cov{P,ε1} = (σ12 - σ12)/(β2 - α2) ≠ 0 Statistical analysis of multi-equation models requires methods adapted to these features Analysis of Multi-equation Models April 9, 2013 Hackl, Econometrics 2, Lecture 5 12 Issues of interest: nEstimation of parameters nInterpretation of model characteristics, prediction, etc. Estimation procedures nMultivariate regression models qGLS , FGLS, ML nSimultaneous equations models qSingle equation methods: indirect least squares (ILS), two stage least squares (TSLS), limited information ML (LIML) qSystem methods of estimation: three stage least squares (3SLS), full information ML (FIML) qDynamic models: estimation methods for vector autoregressive (VAR) and vector error correction (VEC) models n Contents nSystems of Equations nVAR Models nSimultaneous Equations and VAR Models nVAR Models and Cointegration nVEC Model: Cointegration Tests nVEC Model: Specification and Estimation n n n n n April 9, 2013 Hackl, Econometrics 2, Lecture 5 13 Hackl, Econometrics 2, Lecture 5 14 Example: Income and Consumption nModel for income (Y) and consumption (C) n Yt = δ1 + θ11Yt-1 + θ12Ct-1 + ε1t n Ct = δ2 + θ21Ct-1 + θ22Yt-1 + ε2t n with (possibly correlated) white noises ε1t and ε2t nNotation: Zt = (Yt, Ct)‘, 2-vectors δ and ε, and (2x2)-matrix Θ = (θij), the model is n n n n in matrix notation n Zt = δ + ΘZt-1 + εt nRepresents each component of Z as a linear combination of lagged variables nExtension of the AR-model to the 2-vector Zt: vector autoregressive model of order 1, VAR(1) model April 9, 2013 Hackl, Econometrics 2, Lecture 5 15 The VAR(p) Model nVAR(p) model: generalization of the AR(p) model for k-vectors Yt n Yt = δ + Θ1Yt-1 + … + ΘpYt-p + εt n with k-vectors Yt, δ, and εt and kxk-matrices Θ1, …, Θp nUsing the lag-operator L: n Θ(L)Yt = δ + εt n with matrix lag polynomial Θ(L) = I – Θ1L - … - ΘpLp qΘ(L) is a kxk-matrix qEach matrix element of Θ(L) is a lag polynomial of order p nError terms εt qhave covariance matrix Σ (for all t); allows for contemporaneous correlation qare independent of Yt-j, j > 0, i.e., of the past of the components of Yt April 9, 2013 Hackl, Econometrics 2, Lecture 5 16 The VAR(p) Model, cont’d nVAR(p) model for the k-vector Yt n Yt = δ + Θ1Yt-1 + … + ΘpYt-p + εt nVector of expectations of Yt: assuming stationarity n E{Yt} = δ + Θ1 E{Yt} + … + Θp E{Yt} n gives n E{Yt} = μ = (Ik – Θ1 - … - Θp)-1δ = Θ(1)-1δ n i.e., stationarity requires that the kxk-matrix Θ(1) is invertible nIn deviations yt = Yt – μ, the VAR(p) model is n Θ(L)yt = εt nMA representation of the VAR(p) model, given that Θ(L) is invertible n Yt = μ + Θ(L)-1εt = μ + εt + A1εt-1 + A2εt-2 + … nVARMA(p,q) Model: Extension of the VAR(p) model by multiplying εt (from the left) with a matrix lag polynomial A(L) of order q nVAR(p) model with m-vector Xt of exogenous variables, kxm-matrix Γ n Yt = Θ1Yt-1 + … + ΘpYt-p + ΓXt + εt April 9, 2013 Hackl, Econometrics 2, Lecture 5 17 Reasons for Using a VAR Model nVAR model represents a set of univariate ARMA models, one for each component nReformulation of simultaneous equations models as dynamic models nTo be used instead of simultaneous equations models: qNo need to distinct a priori endogenous and exogenous variables qNo need for a priori identifying restrictions on model parameters nSimultaneous analysis of the components: More parsimonious, fewer lags, simultaneous consideration of the history of all included variables nAllows for non-stationarity and cointegration nAttention: the number of parameters to be estimated increases with k and p n Number of parameters n in Θ(L) April 9, 2013 p 1 2 3 k=2 4 8 12 k=4 16 32 48 Contents nSystems of Equations nVAR Models nSimultaneous Equations and VAR Models nVAR Models and Cointegration nVEC Model: Cointegration Tests nVEC Model: Specification and Estimation n n n n n April 9, 2013 Hackl, Econometrics 2, Lecture 5 18 Hackl, Econometrics 2, Lecture 5 19 Example: Income and Consumption nModel for income (Yt) and consumption (Ct) n Yt = δ1 + θ11Yt-1 + θ12Ct-1 + ε1t n Ct = δ2 + θ21Ct-1 + θ22Yt-1 + ε2t n with (possibly correlated) white noises ε1t and ε2t nMatrix form of the simultaneous equations model: n A (Yt, Ct)‘ = Γ (1, Yt-1, Ct-1)‘ + (ε1t, ε2t)’ n with n n n nVAR(1) form: Zt = δ + ΘZt-1 + εt or n n n April 9, 2013 Hackl, Econometrics 2, Lecture 5 20 Simultaneous Equations Models in VAR Form nModel with m endogenous variables (and equations), K regressors n Ayt = Γzt + εt = Γ1 yt-1 + Γ2 xt + εt n with m-vectors yt and εt, K-vector zt, (mxm)-matrix A, (mxK)-matrix Γ, and (mxm)-matrix Σ = V{εt}; nzt contains lagged endogenous variables yt-1 and exogenous variables xt nRearranging gives n yt = Θ yt-1 + δt + vt n with Θ = A-1 Γ1, δt = A-1 Γ2 xt, and vt = A-1 εt nExtension of yt by regressors xt: the matrix δt becomes a vector of deterministic components (intercepts) April 9, 2013 Hackl, Econometrics 2, Lecture 5 21 VAR Model: Estimation nVAR(p) model for the k-vector Yt n Yt = δ + Θ1Yt-1 + … + ΘpYt-p + εt, V{εt} = Σ nComponents of Yt: linear combinations of lagged variables nError terms: Possibly contemporaneously correlated, covariance matrix Σ, uncorrelated over time nSUR model nEstimation, given the order p of the VAR model nOLS estimates of parameters in Θ(L) are consistent nEstimation of Σ based on residual vectors et = (e1t, …, ekt)’: n n nGLS estimator coincides with OLS estimator: same explanatory variables for all equations April 9, 2013 Hackl, Econometrics 2, Lecture 5 22 VAR Model: Estimation, cont’d nChoice of the order p of the VAR model nEstimation of VAR models for various orders p nChoice of p based on Akaike or Schwarz information criterion April 9, 2013 Hackl, Econometrics 2, Lecture 5 23 Income and Consumption nAWM data base, 1971:1-2003:4: PCR (real private consumption), PYR (real disposable income of households); respective annual growth rates of logarithms: C, Y nFitting Zt = δ + ΘZt-1 + εt with Z = (Y, C)‘ gives n n n n n n n n n with AIC = -14.60; for the VAR(2) model: AIC = -14.55 nIn GRETL: OLS equation-wise, VAR estimation, SUR estimation give very similar results April 9, 2013 δ Y-1 C-1 adj.R2 Y θij 0.001 0.815 0.106 0.82 t(θij) 0.39 11.33 1.30 C Θij 0.003 0.085 0.796 0.78 t(θij) 2.52 1.23 10.16 Hackl, Econometrics 2, Lecture 5 24 Impulse-response Function nMA representation of the VAR(p) model n Yt = Θ(1)-1δ + εt + A1εt-1 + A2εt-2 + … nInterpretation of As: the (i,j)-element of As represents the effect of a one unit increase of εjt upon the i-th variable Yi,t+s in Yt+s nDynamic effects of a one unit increase of εjt upon the i-th component of Yt are corresponding to the (i,j)-th elements of Ik, A1, A2, … nThe plot of these elements over s represents the impulse-response function of the i-th variable in Yt+s on a unit shock to εjt April 9, 2013 Contents nSystems of Equations nVAR Models nSimultaneous Equations and VAR Models nVAR Models and Cointegration nVEC Model: Cointegration Tests nVEC Model: Specification and Estimation n n n n n April 9, 2013 Hackl, Econometrics 2, Lecture 5 25 Hackl, Econometrics 2, Lecture 5 26 Stationarity and Non-stationarity nAR(1) process Yt = θYt-1 + εt nis stationary, if the root z of the characteristic polynomial n Θ(z) = 1 - θz = 0 n fulfils |z| > 1, i.e., |θ| < 1; qΘ(z) is invertible, i.e., Θ(z)-1 can be derived such that Θ(z)-1Θ(z) = 1 qYt can be represented by a MA(∞) process: Yt = Θ(z)-1εt nis non-stationary, if n z = 1 or θ = 1 n i.e.,Yt ~ I(1), Yt has a stochastic trend April 9, 2013 Hackl, Econometrics 2, Lecture 5 27 VAR Models, Non-stationarity, and Cointegration nVAR(1) model for the k-vector Yt n Yt = δ + Θ1Yt-1 + εt nIf Θ(L) = I – Θ1L is invertible, n Yt = Θ(1)-1δ + Θ(L)-1εt = μ + εt + A1εt-1 + A2εt-2 + … n i.e., each variable in Yt is a linear combination of white noises, is a stationary I(0) variable nIf Θ(L) is not invertible, not all variables in Yt can be stationary I(0) variables: at least one variable must have a stochastic trend qIf all k variables have independent stochastic trends, all k variables are I(1) and no cointegrating relation exists; e.g., for k = 2: q q q i.e., θ11 = θ22 = 1, θ12 = θ21 = 0 qThe more interesting case: at least one cointegrating relation; number of cointegrating relations equals the rank r{Θ(1)} of matrix Θ(1) April 9, 2013 Hackl, Econometrics 2, Lecture 5 28 Example: A VAR(1) Model nVAR(1) model for k-vector Y in differences with Θ(L) = I - Θ1L n ΔYt = - Θ(1)Yt-1 + δ + εt n r = r{Θ(1)}: rank of (kxk) matrix Θ(1) = Ik - Θ1 1.r = 0: then ΔYt = δ + εt, i.e., Y is a k-dimensional random walk, each component is I(1), no cointegrating relationship 2.r < k: (k - r)-fold unit root, (kxr)-matrices γ and β can be found, both of rank r, with Θ(1) = γβ' the r columns of β are the cointegrating vectors of r cointegrating relations (β in normalized form, i.e., the main diagonal elements of β being ones) 3.r = k: VAR(1) process is stationary, all components of Y are I(0) n April 9, 2013 Hackl, Econometrics 2, Lecture 5 29 Cointegrating Space nYt: k-vector, each component I(1) nCointegrating space: nAmong the k variables, r ≤ k-1 independent linear relations βj‘Yt, j = 1, …, r, are possible so that βj‘Yt ~ I(0) nIndividual relations can be combined with others and these are again I(0), i.e., not the individual cointegrating relations are identified but only the r-dimensional space nCointegrating relations should have an economic interpretation nCointegrating matrix β: nThe kxr matrix β = (β1, …, βr) of vectors βj that state the cointegrating relations βj‘Yt ~ I(0), j = 1, …, r nCointegrating rank: the rank of matrix β: r{β} = r April 9, 2013 Hackl, Econometrics 2, Lecture 5 30 Granger‘s Representation Theorem nGranger’s Representation Theorem (Engle & Granger, 1987): If a set of I(1) variables is cointegrated, then an error-correction (EC) relation of the variables exists nExtends to VAR models: if the I(1) variables of the k-vector Yt are cointegrated, then an error-correction (EC) relation of the variables exists April 9, 2013 Hackl, Econometrics 2, Lecture 5 31 Granger‘s Representation Theorem for VAR Models nVAR(p) model for the k-vector Yt n Yt = δ + Θ1Yt-1 + … + ΘpYt-p + εt n transformed into n ΔYt = δ + Γ1ΔYt-1 + … + Γp-1ΔYt-p+1 + ΠYt-1 + εt (A) qΠ = – Θ(1) = – (Ik – Θ1 – … – Θp): „long-run matrix“, kxk, determines the long-run dynamics of Yt qΓ1, …, Γp-1 (kxk)-matrices, functions of Θ1,…, Θp nΠYt-1 is stationary: ΔYt and εt are I(0) nThree cases 1.r{Π} = r with 0 < r < k: there exist r stationary linear combinations of Yt, i.e., r cointegrating relations 2.r{Π} = 0: Π = 0, no cointegrating relation, equation (A) is a VAR(p) model for stationary variables ΔYt 3.r{Π} = k: all variables in Yt are stationary, Π = - Θ(1) is invertible n April 9, 2013 Hackl, Econometrics 2, Lecture 5 32 Vector Error-Correction Model nVAR(p) model for the k-vector Yt n Yt = δ + Θ1Yt-1 + … + ΘpYt-p + εt n transformed into n ΔYt = δ + Γ1ΔYt-1 + … + Γp-1ΔYt-p+1 + ΠYt-1 + εt n with r{Π} = r and Π = γβ' gives n ΔYt = δ + Γ1ΔYt-1 + … + Γp-1ΔYt-p+1 + γβ'Yt-1 + εt (B) nr cointegrating relations β'Yt-1 nAdaptation parameters γ measure the portion or speed of adaptation of Yt in compensation of the equilibrium error Zt-1 = β'Yt-1 nEquation (B) is called the vector error-correction (VEC) model n April 9, 2013 Hackl, Econometrics 2, Lecture 5 33 Example: Bivariate VAR Model nVAR(1) model for the 2-vector Yt = (Y1t, Y2t)’ n Yt = ΘYt-1 + εt ; and ΔYt = ΠYt-1 + εt nLong-run matrix n n n nΠ = 0, if θ11 = θ22 = 1, θ12 = θ21 = 0, i.e., Y1t, Y2t are random walks nr{Π} < 2, if (θ11 – 1)(θ22 – 1) – θ12 θ21 = 0; cointegrating vector: β‘ = (θ11 – 1, θ12), long-run matrix n n n nThe error-correction form is April 9, 2013 Hackl, Econometrics 2, Lecture 5 34 Deterministic Component nVEC(p) model for the k-vector Yt n ΔYt = δ + Γ1ΔYt-1 + … + Γp-1ΔYt-p+1 + γβ'Yt-1 + εt (B) nThe deterministic component (intercept) δ: 1.E{ΔYt} = 0, i.e., no deterministic trend in any component of Yt: given that Γ = Ik – Γ1 – … – Γp-1 has full rank: qΓ E{ΔYt} = δ + γE{Zt-1} = 0 with equilibrium error Zt-1 = β'Yt-1 qE{Zt-1} corresponds to the intercepts of the cointegrating relations; with r-dimensional vector E{Zt-1} = α (and hence δ = - γα) q ΔYt = Γ1ΔYt-1 + … + Γp-1ΔYt-p+1 + γ(- α + β'Yt-1) + εt (C) qIntercepts only in the cointegrating relations, i.e., no deterministic trend in the model April 9, 2013 Hackl, Econometrics 2, Lecture 5 35 Deterministic Component, cont’d nVEC(p) model for the k-vector Yt n ΔYt = δ + Γ1ΔYt-1 + … + Γp-1ΔYt-p+1 + γβ'Yt-1 + εt (B) nThe deterministic component (intercept) δ: 2.Addition of a k-vector λ with identical components to (C) n ΔYt = λ + Γ1ΔYt-1 + … + Γp-1ΔYt-p+1 + γ(- α + β'Yt-1) + εt qLong-run equilibrium: steady state growth with growth rate E{ΔYt} = Γ-1λ qDeterministic trends cancel out in the long run, so that no deterministic trend in the error-correction term; cf. (B) qAddition of k-vector λ can be repeated: up to k-r separate deterministic trends can cancel out in the error-correction term qThe general notation is equation (B) with δ containing r intercepts of the long-run relations and k-r deterministic trends in the variables of Yt April 9, 2013 Hackl, Econometrics 2, Lecture 5 36 The Five Cases nBased on empirical observation and economic reasoning, choice between: 1)Unrestricted constant: variables show deterministic linear trends 2)Restricted constant: variables not trended but mean distance between them not zero; intercept in the error-correction term 3)No constant n Generalization: deterministic component contains intercept and trend 4)Constant + restricted trend: cointegrating relations include a trend but the first differences of the variables in question do not 5)Constant + unrestricted trend: trend in both the cointegrating relations and the first differences, corresponding to a quadratic trend in the variables (in levels) n n April 9, 2013 Contents nSystems of Equations nVAR Models nSimultaneous Equations and VAR Models nVAR Models and Cointegration nVEC Model: Cointegration Tests nVEC Model: Specification and Estimation n n n n n April 9, 2013 Hackl, Econometrics 2, Lecture 5 37 Hackl, Econometrics 2, Lecture 5 38 Choice of the Cointegrating Rank nBased on k-vector Yt ~ I(1) nEstimation procedure needs as input the cointegrating rank r nTesting for cointegration nEngle-Granger approach nJohansen‘s R3 method n April 9, 2013 Hackl, Econometrics 2, Lecture 5 39 The Engle-Granger Approach nNon-stationary processes Yt ~ I(1), Xt ~ I(1); the model is n Yt = α + βXt + εt nStep 1: OLS-fitting nTest for cointegration based on residuals, e.g., DF test with special critical values; H0: residuals are I(1), no cointegration nIf H0 is rejected, qOLS fitting in step 1 gives consistent estimate of the cointegrating vector qStep 2: OLS estimation of the EC model based on the cointegrating vector from step 1 nCan be extended to k-vector Yt = (Y1t, ..., Ykt)’: nStep 1 applied to Y1t = α + β1Y2t + ... + βkYkt + εt nDF test of H0: residuals are I(1), no cointegration n April 9, 2013 Hackl, Econometrics 2, Lecture 5 40 Engle-Granger Cointegration Test: Problems nResidual based cointegration tests can be misleading nTest results depend on specification qWhich variables are included qNormalization of the cointegrating vector, which variable on left hand side nTest may be inappropriate due to wrong specification of cointegrating relation nTest power suffers from inefficient use of information (dynamic interactions not taken into account) nTest gives no information about the rank r n April 9, 2013 Hackl, Econometrics 2, Lecture 5 41 Johansen‘s R3 Method nReduced rank regression or R3 method: an iterative method for specifying the cointegrating rank r nAlso called Johansen's test nThe test is based on the k eigenvalues λi (λ1> λ2>…> λk) of n Y1‘Y1 – Y1‘ΔY(ΔY‘ΔY)-1ΔY‘Y1, n with ΔY: (Txk) matrix of differences ΔYt, Y1: (Txk) matrix of Yt-1 qeigenvalues λi fulfil 0 ≤ λi < 1 qif r{Θ(1)} = r, the k-r smallest eigenvalues obey q log(1- λj) = λj = 0, j = r+1, …, k nJohansen’s iterative test procedures qTrace test qMaximum eigenvalue test or max test April 9, 2013 Hackl, Econometrics 2, Lecture 5 42 Trace and Max Test: The Procedures nLR tests, based on the assumption of normally distributed errors nTrace test: for r0 = 0, 1, …, test of H0: r ≤ r0 (r0 or fewer cointegrating relations) against H1: r0 < r ≤ k n λtrace(r0) = - T Σkj=r0+1log(1- Îj) qÎj: estimator of λj qH0 is rejected for large values of λtrace(r0) qStops when H0 is not rejected for the first time qCritical values from simulations nMax test: tests for r0 = 0, 1, …: H0: r ≤ r0 (the eigenvalue λr0+1 is different from zero) against H1: r = r0+1 n λmax(r0) = - T log(1 - Îr0+1) qStops when H0 is not rejected for the first time qCritical values from simulations April 9, 2013 Hackl, Econometrics 2, Lecture 5 43 Trace and Max Test: Critical Limits nCritical limits are shown in Verbeek’s Table 9.9 for both tests nDepend on presence of trends and intercepts qCase 1: no deterministic trends, intercepts in cointegrating relations qCase 2: k unrestricted intercepts in the VAR model, i.e., k - r deterministic trends, r intercepts in cointegrating relations nDepend on k – r nNeed small sample correction, e.g., factor (T-pk)/T for the test statistic: avoids too large values of r n April 9, 2013 Hackl, Econometrics 2, Lecture 5 44 Example: Purchasing Power Parity nVerbeek’s dataset ppp: Price indices and exchange rates for France and Italy, T = 186 (1/1981-6/1996) nVariables: LNIT (log price index Italy), LNFR (log price index France), LNX (log exchange rate France/Italy) nPurchasing power parity (PPP): exchange rate between the currencies (Franc, Lira) equals the ratio of price levels of the countries nRelative PPP: equality fulfilled only in the long run; equilibrium or cointegrating relation n LNXt = α + β LNPt + εt n with LNPt = LNITt – LNFRt, i.e., the log of the price index ratio France/Italy nGeneralization: n LNXt = α + β1 LNITt – β2 LNFRt + εt April 9, 2013 PPP: Cointegrating Rank r nAs discussed by Verbeek: Johansen test for k = 3 variables, maximal lag order p = 3 n n n n n nH0 not rejected that smallest eigenvalue equals zero: series are non-stationary nBoth the trace and the max test suggest r = 2 April 9, 2013 Hackl, Econometrics 2, Lecture 5 45 H0 H1 eigen-value λtr(r0) p-value H1 λmax(r0) p-value r = 0 r ≥ 1 0.301 93.9 0.0000 r = 1 65.5 0.0000 r ≤ 1 r ≥ 2 0.113 28.4 0.0023 r = 2 22.0 0.0035 r ≤ 2 r = 3 0.034 6.4 0.169 r = 3 6.4 0.1690 Contents nSystems of Equations nVAR Models nSimultaneous Equations and VAR Models nVAR Models and Cointegration nVEC Model: Cointegration Tests nVEC Model: Specification and Estimation n n n n n April 9, 2013 Hackl, Econometrics 2, Lecture 5 46 Hackl, Econometrics 2, Lecture 5 47 Estimation of VEC Models nEstimation of n ΔYt = δ + Γ1ΔYt-1 + … + Γp-1ΔYt-p+1 + ΠYt-1 + εt n requires finding (kxr)-matrices α and β with Π = αβ‘ qβ: matrix of cointegrating vectors qα: matrix of adjustment coefficients nIdentification problem: linear combinations of cointegrating vectors are also cointegrating vectors nUnique solutions for α and β require restrictions nMinimum number of restrictions which guarantee identification is r2 nNormalization qPhillips normalization qManual normalization April 9, 2013 Hackl, Econometrics 2, Lecture 5 48 Phillips Normalization nCointegrating vector n β’ = (β1’, β2’) n β1: (rxr)-matrix with rank r, β2: [(k-r)xr]-matrix nNormalization consists in transforming β into n n n with matrix B of unrestricted coefficients nThe r cointegrating relations express the first r variables as functions of the remaining k - r variables nFulfils the condition that at least r2 restrictions are needed to guarantee identification nResulting equilibrium relations may be difficult to interpret nAlternative: manual normalization April 9, 2013 Hackl, Econometrics 2, Lecture 5 49 Example: Money Demand nVerbeek’s data set “money”: US data 1:54 – 12:1994 (T=164) nm: log of real M1 money stock ninfl: quarterly inflation rate (change in log prices, % per year) ncpr: commercial paper rate (% per year) ny: log real GDP (billions of 1987 dollars) ntbr: treasury bill rate n April 9, 2013 Hackl, Econometrics 2, Lecture 5 50 Money Demand: Cointegrating Relations nIntuitive choice of long-run behaviour relations nMoney demand n mt = α1 + β14 yt + β15 trbt + ε1t n Expected: β14 ≈ 1, β15 < 0 nFisher equation n inflt = α2 + β25 trbt + ε2t n Expected: β25 ≈ 1 nStationary risk premium n cprt = α3 + β35 trbt + ε3t n Stationarity of difference between cpr and trb; expected: β35 ≈ 1 n April 9, 2013 Hackl, Econometrics 2, Lecture 5 51 Money Demand: Cointegrating Vectors nML estimates, lag order p = 6, cointegration rank r = 2, restricted constant nCointegrating vectors β1 and β2 and standard errors (s.e.), Phillips normalization n n n April 9, 2013 m infl cpr y tbr const β1 1.00 0.00 0.61 -0.35 -0.60 -4.27 (s.e.) (0.00) (0.00) (0.12) (0.12) (0.12) (0.91) β2 0.00 1.00 -26.95 -3.28 -27.44 39.25 (s.e.) (0.00) (0.00) (4.66) (4.61) (4.80) (35.5) Hackl, Econometrics 2, Lecture 5 52 Estimation of VEC Models: k=2 nEstimation procedure consists of the following steps 1.Test the variables in the 2-vector Yt for stationarity using the usual ADF tests; VEC models need I(1) variables 2.Determine the order p 3.Specification of qdeterministic trends of the variables in Yt qintercept in the cointegrating relation 4.Cointegration test 5.Estimation of cointegrating relation, normalization 6.Estimation of the VEC model April 9, 2013 Hackl, Econometrics 2, Lecture 5 53 Example: Income and Consumption nModel: n Yt = δ1 + θ11Yt-1 + θ12Ct-1 + ε1t n Ct = δ2 + θ21Ct-1 + θ22Yt-1 + ε2t nWith Z = (Y, C)‘, 2-vectors δ and ε, and (2x2)-matrix Θ, the VAR(1) model is n Zt = δ + ΘZt-1 + εt nRepresents each component of Z as a linear combination of lagged variables April 9, 2013 Hackl, Econometrics 2, Lecture 5 54 Income and Consumption: VEC(1) Model nAWM data base: PCR (real private consumption), PYR (real disposable income of households); logarithms: C, Y 1.Check whether C and Y are non-stationary: n C ~ I(1), Y ~ I(1) 2.Johansen test for cointegration: given that C and Y have no trends and the cointegrating relationship has an intercept: n r = 1 (p < 0.05) n the cointegrating relationship is n C = 8.55 – 1.61Y n with t(Y) = 18.2 n n n n n April 9, 2013 Hackl, Econometrics 2, Lecture 5 55 Income and Consumption: VEC(1) Model, cont’d 3.VEC(1) model (same specification as in 2.) with Z = (Y, C)’ n DZt = - γ(β‘Zt-1 + δ) + ΓDZt-1 + εt n n n n n n n nThe model explains growth rates of PCR and PYR; AIC = -15.41 is smaller than that of the VAR(1)-Modell (AIC = -14.45) April 9, 2013 coint DY-1 DC-1 adj.R2 AIC DY γij 0.029 0.167 0.059 0.14 -7.42 t(γij) 5.02 1.59 0.49 DC γij 0.047 0.226 -0.148 0.18 -7.59 t(γij) 2.36 2.34 1.35 Hackl, Econometrics 2, Lecture 5 56 Estimation of VEC Models nEstimation procedure consists of the following steps 1.Test of the k variables in Yt for stationarity: ADF test 2.Determination of the number p of lags in the cointegration test (order of VAR): AIC or BIC 3.Specification of qdeterministic trends of the variables in Yt qintercept in the cointegrating relations 4.Determination of the number r of cointegrating relations: trace and/or max test 5.Estimation of the coefficients β of the cointegrating relations and the adjustment α coefficients; normalization; assessment of the cointegrating relations 6.Estimation of the VEC model April 9, 2013 Hackl, Econometrics 2, Lecture 5 57 VEC Models in GRETL nModel > Time Series > VAR lag selection… nCalculates information criteria like AIC and BIC from VARs of order 1 to the chosen maximum order of the VAR nModel > Time Series > Cointegration test > Johansen… nCalculates eigenvalues, test statistics for the trace and max tests, and estimates of the matrices α, β, and Π = αβ‘ nModel > Time Series > VECM nEstimates the specified VEC model for a given cointegration rank: (1) cointegrating vectors and standard errors, (2) adjustment vectors, (3) coefficients and various criteria for each of the equations of the VEC model n April 9, 2013 Hackl, Econometrics 2, Lecture 5 58 Your Homework 1.Read section 9.6 of Verbeek’s book. Perform the steps 1 – 6 for estimating a VEC model for Verbeek’s dataset “money”. Is the choice p = 2 appropriate? Compare the VEC(2) models for r = 1 and 2. 2.Derive the VEC form of the VAR(2) model n Yt = δ + Θ1Yt-1 + Θ2Yt-2 + εt n assuming a k-vector Yt and appropriate orders of the other vectors and matrices. n n April 9, 2013