Forecasting using R0 20 40 60 80 100 Time MA(2) Forecasting using R Moving average models 9 MA(1)...

Forecasting using R 1

Forecasting using R

Rob J Hyndman

2.4 Non-seasonal ARIMA models

Outline1 Autoregressive models

2 Moving average models

3 Non-seasonal ARIMA models

4 Partial autocorrelations

5 Estimation and order selection

6 ARIMA modelling in R

7 Forecasting

8 Lab session 11

Forecasting using R Autoregressive models 2

Autoregressive modelsAutoregressive (AR) models:

yt = c + φ1yt−1 + φ2yt−2 + · · · + φpyt−p + et,where et is white noise. This is a multiple regression with**lagged values** of yt as predictors.

0 20 40 60 80 100Time

AR(1) modelyt = 2− 0.8yt−1 + et

et ∼ N(0, 1), T = 100.

0 20 40 60 80 100Time

AR(1) model

yt = c + φ1yt−1 + et

When φ1 = 0, yt is equivalent to WNWhen φ1 = 1 and c = 0, yt is equivalent to a RWWhen φ1 = 1 and c 6= 0, yt is equivalent to a RW withdriftWhen φ1 < 0, yt tends to oscillate between positiveand negative values.

AR(2) modelyt = 8 + 1.3yt−1 − 0.7yt−2 + et

et ∼ N(0, 1), T = 100.

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Stationarity conditionsWe normally restrict autoregressive models to stationarydata, and then some constraints on the values of theparameters are required.

General condition for stationarityComplex roots of 1− φ1z− φ2z2 − · · · − φpzp lie outsidethe unit circle on the complex plane.

For p = 1: −1 < φ1 < 1.For p = 2:\−1 < φ2 < 1 φ2 + φ1 < 1 φ2 − φ1 < 1.More complicated conditions hold for p ≥ 3.Estimation software takes care of this.

Stationarity conditionsWe normally restrict autoregressive models to stationarydata, and then some constraints on the values of theparameters are required.

General condition for stationarityComplex roots of 1− φ1z− φ2z2 − · · · − φpzp lie outsidethe unit circle on the complex plane.

For p = 1: −1 < φ1 < 1.For p = 2:\−1 < φ2 < 1 φ2 + φ1 < 1 φ2 − φ1 < 1.More complicated conditions hold for p ≥ 3.Estimation software takes care of this.

7 Forecasting

8 Lab session 11

Forecasting using R Moving average models 8

Moving Average (MA) modelsMoving Average (MA) models:

yt = c + et + θ1et−1 + θ2et−2 + · · · + θqet−q,where et is white noise. This is a multiple regression with**past errors** as predictors. Don’t confuse this withmoving average smoothing!

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MA(1) modelyt = 20 + et + 0.8et−1

et ∼ N(0, 1), T = 100.

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MA(2) modelyt = et − et−1 + 0.8et−2

et ∼ N(0, 1), T = 100.

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Invertibility

Any MA(q) process can be written as an AR(∞)process if we impose some constraints on the MAparameters.Then the MA model is called {“invertible”.}Invertible models have some mathematical propertiesthat make them easier to use in practice.Invertibility of an ARIMA model is equivalent toforecastability of an ETS model.

Invertibility

General condition for invertibilityComplex roots of 1 + θ1z + θ2z2 + · · · + θqzq lie outside theunit circle on the complex plane.

For q = 1: −1 < θ1 < 1.For q = 2:−1 < θ2 < 1 θ2 + θ1 > −1 θ1 − θ2 < 1.More complicated conditions hold for {q ≥ 3.}Estimation software takes care of this.

Invertibility

General condition for invertibilityComplex roots of 1 + θ1z + θ2z2 + · · · + θqzq lie outside theunit circle on the complex plane.

For q = 1: −1 < θ1 < 1.For q = 2:−1 < θ2 < 1 θ2 + θ1 > −1 θ1 − θ2 < 1.More complicated conditions hold for {q ≥ 3.}Estimation software takes care of this.

7 Forecasting

8 Lab session 11

Forecasting using R Non-seasonal ARIMA models 14

ARIMA modelsAutoregressive Moving Average models:

yt = c + φ1yt−1 + · · · + φpyt−p+ θ1et−1 + · · · + θqet−q + et.

Predictors include both lagged values of yt andlagged errors.Conditions on coefficients ensure stationarity.Conditions on coefficients ensure invertibility.

Autoregressive Integrated Moving Average modelsCombine ARMA model with differencing.(1− B)dyt follows an ARMA model.

ARIMA modelsAutoregressive Integrated Moving Average models

ARIMA(p, d, q) modelAR: p = order of the autoregressive partI: d = degree of first differencing involved

MA: q = order of the moving average part.

White noise model: ARIMA(0,0,0)Random walk: ARIMA(0,1,0) with no constantRandom walk with drift: ARIMA(0,1,0) with const.AR(p): ARIMA(p,0,0)MA(q): ARIMA(0,0,q)

Backshift notation for ARIMAARMA model:

yt = c + φ1Byt + · · · + φpBpyt + et + θ1Bet + · · · + θqBqetor (1− φ1B− · · · − φpBp)yt = c + (1 + θ1B + · · · + θqBq)et

ARIMA(1,1,1) model:

(1− φ1B) (1− B)yt = c + (1 + θ1B)et↑ ↑ ↑

AR(1) First MA(1)difference

Written out:

yt = c + yt−1 + φ1yt−1 − φ1yt−2 + θ1et−1 + etForecasting using R Non-seasonal ARIMA models 17

Backshift notation for ARIMAARMA model:

yt = c + φ1Byt + · · · + φpBpyt + et + θ1Bet + · · · + θqBqetor (1− φ1B− · · · − φpBp)yt = c + (1 + θ1B + · · · + θqBq)et

ARIMA(1,1,1) model:

(1− φ1B) (1− B)yt = c + (1 + θ1B)et↑ ↑ ↑

AR(1) First MA(1)difference

Written out:

yt = c + yt−1 + φ1yt−1 − φ1yt−2 + θ1et−1 + etForecasting using R Non-seasonal ARIMA models 17

US personal consumption

1970 1980 1990 2000 2010Year

US consumption

US personal consumption(fit <- auto.arima(usconsumption[,1],

seasonal=FALSE))

## Series: usconsumption[, 1]## ARIMA(0,0,3) with non-zero mean#### Coefficients:## ma1 ma2 ma3 intercept## 0.2542 0.2260 0.2695 0.7562## s.e. 0.0767 0.0779 0.0692 0.0844#### sigma^2 estimated as 0.3953: log likelihood=-154.73## AIC=319.46 AICc=319.84 BIC=334.96

ARIMA(0,0,3) or MA(3) model:yt = 0.756 + et + 0.254et−1 + 0.226et−2 + 0.269et−3,

where et is white noise with standard deviation 0.63 =√0.3953.

US personal consumption(fit <- auto.arima(usconsumption[,1],

seasonal=FALSE))

## Series: usconsumption[, 1]## ARIMA(0,0,3) with non-zero mean#### Coefficients:## ma1 ma2 ma3 intercept## 0.2542 0.2260 0.2695 0.7562## s.e. 0.0767 0.0779 0.0692 0.0844#### sigma^2 estimated as 0.3953: log likelihood=-154.73## AIC=319.46 AICc=319.84 BIC=334.96

ARIMA(0,0,3) or MA(3) model:yt = 0.756 + et + 0.254et−1 + 0.226et−2 + 0.269et−3,

where et is white noise with standard deviation 0.63 =√0.3953.

US personal consumption

fit %>% forecast(h=10) %>% autoplot(include=80)

1990 1995 2000 2005 2010Time

Forecasts from ARIMA(0,0,3) with non−zero mean

Understanding ARIMA models

If c = 0 and d = 0, the long-term forecasts will go tozero.If c = 0 and d = 1, the long-term forecasts will go to anon-zero constant.If c = 0 and d = 2, the long-term forecasts will follow astraight line.If c 6= 0 and d = 0, the long-term forecasts will go tothe mean of the data.If c 6= 0 and d = 1, the long-term forecasts will follow astraight line.If c 6= 0 and d = 2, the long-term forecasts will follow aquadratic trend.

Understanding ARIMA modelsForecast variance and d

The higher the value of d, the more rapidly theprediction intervals increase in size.For d = 0, the long-term forecast standard deviationwill go to the standard deviation of the historical data.

Cyclic behaviourFor cyclic forecasts, p > 2 and some restrictions oncoefficients are required.If p = 2, we need φ21 + 4φ2 < 0. Then average cycle oflength

(2π)/[arc cos(−φ1(1− φ2)/(4φ2))

7 Forecasting

8 Lab session 11

Forecasting using R Partial autocorrelations 23

Partial autocorrelationsPartial autocorrelationsmeasure relationshipbetween yt and yt−k, when the effects of other time lags —1, 2, 3, . . . , k− 1 — are removed.

αk = kth partial autocorrelation coefficient= equal to the estimate of bk in regression:

yt = c + φ1yt−1 + φ2yt−2 + · · · + φkyt−k.

Varying number of terms on RHS gives αk for differentvalues of k.There are more efficient ways of calculating αk.α1 = ρ1same critical values of±1.96/

√T as for ACF.

yt = c + φ1yt−1 + φ2yt−2 + · · · + φkyt−k.

√T as for ACF.

yt = c + φ1yt−1 + φ2yt−2 + · · · + φkyt−k.

√T as for ACF.

Example: US consumption

1970 1980 1990 2000 2010Year

US consumption

Example: US consumption

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4 8 12 16 20Lag

ACF and PACF interpretationARIMA(p,d,0)model if ACF and PACF plots of differenceddata show:

the ACF is exponentially decaying or sinusoidal;there is a significant spike at lag p in PACF, but nonebeyond lag p.

ARIMA(0,d,q)model if ACF and PACF plots of differenceddata show:

the PACF is exponentially decaying or sinusoidal;there is a significant spike at lag q in ACF, but nonebeyond lag q.

ACF and PACF interpretationARIMA(p,d,0)model if ACF and PACF plots of differenceddata show:

the ACF is exponentially decaying or sinusoidal;there is a significant spike at lag p in PACF, but nonebeyond lag p.

ARIMA(0,d,q)model if ACF and PACF plots of differenceddata show:

the PACF is exponentially decaying or sinusoidal;there is a significant spike at lag q in ACF, but nonebeyond lag q.

Example: Mink trapping

1850 1860 1870 1880 1890 1900 1910Year

Annual number of minks trapped

Example: Mink trapping

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7 Forecasting

8 Lab session 11

Forecasting using R Estimation and order selection 30

Maximum likelihood estimationHaving identified the model order, we need to estimatethe parameters c, φ1, . . . , φp, θ1, . . . , θq.

MLE is very similar to least squares estimationobtained by minimizing

T∑t−1

The Arima() command allows CLS or MLEestimation.Non-linear optimization must be used in either case.Different software will give different estimates.

Maximum likelihood estimationHaving identified the model order, we need to estimatethe parameters c, φ1, . . . , φp, θ1, . . . , θq.

MLE is very similar to least squares estimationobtained by minimizing

T∑t−1

The Arima() command allows CLS or MLEestimation.Non-linear optimization must be used in either case.Different software will give different estimates.

Information criteriaAkaike’s Information Criterion (AIC):

AIC = −2 log(L) + 2(p + q + k + 1),where L is the likelihood of the data,k = 1 if c 6= 0 and k = 0 if c = 0.Corrected AIC:

AICc = AIC +2(p + q + k + 1)(p + q + k + 2)

T − p− q− k− 2.

Bayesian Information Criterion:BIC = AIC + log(T)(p + q + k− 1).

Good models are obtained by minimizing either the AIC,AICc or BIC. Our preference is to use the AICc.

AICc = AIC +2(p + q + k + 1)(p + q + k + 2)

T − p− q− k− 2.

AICc = AIC +2(p + q + k + 1)(p + q + k + 2)

T − p− q− k− 2.

AICc = AIC +2(p + q + k + 1)(p + q + k + 2)

T − p− q− k− 2.

7 Forecasting

8 Lab session 11

Forecasting using R ARIMA modelling in R 33

How does auto.arima() work?

A non-seasonal ARIMA process

φ(B)(1− B)dyt = c + θ(B)εtNeed to select appropriate orders: p, q, d

Hyndman and Khandakar (JSS, 2008) algorithm:

Select no. differences d and D via unit root tests.Select p, q by minimising AICc.Use stepwise search to traverse model space.

How does auto.arima() work?AICc = −2 log(L) + 2(p + q + k + 1)

[1 + (p+q+k+2)

T−p−q−k−2

where L is the maximised likelihood fitted to the differenced data,k = 1 if c 6= 0 and k = 0 otherwise.

Step1: Select current model (with smallest AICc) from:ARIMA(2, d, 2)ARIMA(0, d, 0)ARIMA(1, d, 0)ARIMA(0, d, 1)

Step 2: Consider variations of current model:vary one of p, q, from current model by±1;p, q both vary from current model by±1;Include/exclude c from current model.

Model with lowest AICc becomes current model.Repeat Step 2 until no lower AICc can be found.

[1 + (p+q+k+2)

T−p−q−k−2

[1 + (p+q+k+2)

T−p−q−k−2

Choosing your own model

ggtsdisplay(internet)

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internet

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Choosing your own modeladf.test(internet)

#### Augmented Dickey-Fuller Test#### data: internet## Dickey-Fuller = -2.6421, Lag order = 4, p-value = 0.3107## alternative hypothesis: stationary

kpss.test(internet)

#### KPSS Test for Level Stationarity#### data: internet## KPSS Level = 0.72197, Truncation lag parameter = 2, p-value =## 0.01155

kpss.test(diff(internet))

#### KPSS Test for Level Stationarity#### data: diff(internet)## KPSS Level = 0.26352, Truncation lag parameter = 2, p-value = 0.1

ggtsdisplay(diff(internet))

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diff(internet)

5 10 15 20Lag

(fit <- Arima(internet,order=c(3,1,0)))

## Series: internet## ARIMA(3,1,0)#### Coefficients:## ar1 ar2 ar3## 1.1513 -0.6612 0.3407## s.e. 0.0950 0.1353 0.0941#### sigma^2 estimated as 9.656: log likelihood=-252## AIC=511.99 AICc=512.42 BIC=522.37

(fit2 <- auto.arima(internet))

## Series: internet## ARIMA(1,1,1)#### Coefficients:## ar1 ma1## 0.6504 0.5256## s.e. 0.0842 0.0896#### sigma^2 estimated as 9.995: log likelihood=-254.15## AIC=514.3 AICc=514.55 BIC=522.08

ggtsdisplay(residuals(fit))

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residuals(fit)

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Box.test(residuals(fit), fitdf=3, lag=10,type="Ljung")

#### Box-Ljung test#### data: residuals(fit)## X-squared = 4.4913, df = 7, p-value = 0.7218

fit %>% forecast %>% autoplot

0 30 60 90Time

Forecasts from ARIMA(3,1,0)

Modelling procedure with Arima1 Plot the data. Identify any unusual observations.2 If necessary, transform the data (using a Box-Cox

transformation) to stabilize the variance.3 If the data are non-stationary: take first differences of the

data until the data are stationary.4 Examine the ACF/PACF: Is an AR(p) or MA(q) model

appropriate?5 Try your chosen model(s), and use the AICc to search for a

better model.6 Check the residuals from your chosen model by plotting

the ACF of the residuals, and doing a portmanteau test ofthe residuals. If they do not look like white noise, try amodified model.

7 Once the residuals look like white noise, calculateforecasts.

Modelling procedure with auto.arima1 Plot the data. Identify any unusual observations.2 If necessary, transform the data (using a Box-Cox

transformation) to stabilize the variance.

3 Use auto.arima to select a model.

6 Check the residuals from your chosen model by plottingthe ACF of the residuals, and doing a portmanteau test ofthe residuals. If they do not look like white noise, try amodified model.

7 Once the residuals look like white noise, calculateforecasts.

Modelling procedure 8/ arima models 177

1. Plot the data. Identifyunusual observations.Understand patterns.

2. If necessary, use a Box-Cox transformation tostabilize the variance.

Select modelorder yourself.

Use automatedalgorithm.

3. If necessary, differencethe data until it appearsstationary. Use unit-roottests if you are unsure.

4. Plot the ACF/PACF ofthe differenced data and

try to determine pos-sible candidate models.

5. Try your chosen model(s)and use the AICc to

search for a better model.

6. Check the residualsfrom your chosen model

by plotting the ACF of theresiduals, and doing a port-

manteau test of the residuals.

Use auto.arima() to findthe best ARIMA model

for your time series.

Do theresidualslook like

whitenoise?

7. Calculate forecasts.

Figure 8.10: General process for fore-casting using an ARIMA model.

Seasonally adjusted electrical equipment

eeadj <- seasadj(stl(elecequip, s.window="periodic"))autoplot(eeadj) + xlab("Year") +

ylab("Seasonally adjusted new orders index")

2000 2005 2010Year

1 Time plot shows sudden changes, particularly bigdrop in 2008/2009 due to global economicenvironment. Otherwise nothing unusual and noneed for data adjustments.

2 No evidence of changing variance, so no Box-Coxtransformation.

3 Data are clearly non-stationary, so we take firstdifferences.

Seasonally adjusted electricalequipment

ggtsdisplay(diff(eeadj), main="")

2000 2005 2010Time

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−0.2

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−0.4

−0.2

12 24 36Lag

4 PACF is suggestive of AR(3). So initial candidate modelis ARIMA(3,1,0). No other obvious candidates.

5 Fit ARIMA(3,1,0) model along with variations:ARIMA(4,1,0), ARIMA(2,1,0), ARIMA(3,1,1), etc.ARIMA(3,1,1) has smallest AICc value.

fit <- Arima(eeadj, order=c(3,1,1))summary(fit)

## Series: eeadj## ARIMA(3,1,1)#### Coefficients:## ar1 ar2 ar3 ma1## 0.0519 0.1191 0.3730 -0.4542## s.e. 0.1840 0.0888 0.0679 0.1993#### sigma^2 estimated as 9.737: log likelihood=-484.08## AIC=978.17 AICc=978.49 BIC=994.4#### Training set error measures:## ME RMSE MAE MPE MAPE MASE## Training set -0.001227744 3.079373 2.389267 -0.04290849 2.517748 0.2913919## ACF1## Training set 0.008928479

6 ACF plot of residuals from ARIMA(3,1,1) model looklike white noise.

ggAcf(residuals(fit))

−0.15

−0.10

−0.05

12 246 18Lag

Series: residuals(fit)

Box.test(residuals(fit), lag=24,fitdf=4, type="Ljung")

#### Box-Ljung test#### data: residuals(fit)## X-squared = 20.496, df = 20, p-value = 0.4273

fit %>% forecast %>% autoplot

2000 2005 2010Time

Forecasts from ARIMA(3,1,1)

7 Forecasting

8 Lab session 11

Forecasting using R Forecasting 56

Point forecasts

1 Rearrange ARIMA equation so yt is on LHS.2 Rewrite equation by replacing t by T + h.3 On RHS, replace future observations by their

forecasts, future errors by zero, and past errors bycorresponding residuals.

Start with h = 1. Repeat for h = 2, 3, . . ..

Point forecastsARIMA(3,1,1) forecasts: Step 1

(1− φ1B− φ2B2 − φ3B3)(1− B)yt = (1 + θ1B)et,

[1− (1 + φ1)B + (φ1 − φ2)B2 + (φ2 − φ3)B3 + φ3B4

= (1 + θ1B)et,

yt − (1 + φ1)yt−1 + (φ1 − φ2)yt−2 + (φ2 − φ3)yt−3+ φ3yt−4 = et + θ1et−1.

yt = (1 + φ1)yt−1 − (φ1 − φ2)yt−2 − (φ2 − φ3)yt−3− φ3yt−4 + et + θ1et−1.

(1− φ1B− φ2B2 − φ3B3)(1− B)yt = (1 + θ1B)et,

[1− (1 + φ1)B + (φ1 − φ2)B2 + (φ2 − φ3)B3 + φ3B4

= (1 + θ1B)et,

(1− φ1B− φ2B2 − φ3B3)(1− B)yt = (1 + θ1B)et,

[1− (1 + φ1)B + (φ1 − φ2)B2 + (φ2 − φ3)B3 + φ3B4

= (1 + θ1B)et,

(1− φ1B− φ2B2 − φ3B3)(1− B)yt = (1 + θ1B)et,

[1− (1 + φ1)B + (φ1 − φ2)B2 + (φ2 − φ3)B3 + φ3B4

= (1 + θ1B)et,

Point forecasts (h=1)yt = (1 + φ1)yt−1 − (φ1 − φ2)yt−2 − (φ2 − φ3)yt−3

− φ3yt−4 + et + θ1et−1.

ARIMA(3,1,1) forecasts: Step 2

yT+1 = (1 + φ1)yT − (φ1 − φ2)yT−1 − (φ2 − φ3)yT−2− φ3yT−3 + eT+1 + θ1eT.

yT+1|T = (1 + φ1)yT − (φ1 − φ2)yT−1 − (φ2 − φ3)yT−2− φ3yT−3 + θ1eT.

− φ3yt−4 + et + θ1et−1.

yT+2 = (1 + φ1)yT+1 − (φ1 − φ2)yT − (φ2 − φ3)yT−1− φ3yT−2 + eT+2 + θ1eT+1.

yT+2|T = (1 + φ1)yT+1|T − (φ1 − φ2)yT − (φ2 − φ3)yT−1− φ3yT−2.

− φ3yt−4 + et + θ1et−1.

Prediction intervals95% Prediction interval

yT+h|T ± 1.96√vT+h|T

where vT+h|T is estimated forecast variance.

vT+1|T = σ2 for all ARIMA models regardless ofparameters and orders.Multi-step prediction intervals for ARIMA(0,0,q):

yt = et +q∑i=1θiet−i.

vT|T+h = σ21 + h−1∑

i=1θ2i

, for h = 2, 3, . . . .

vT+1|T = σ2 for all ARIMA models regardless ofparameters and orders.Multi-step prediction intervals for ARIMA(0,0,q):

vT|T+h = σ21 + h−1∑

i=1θ2i

, for h = 2, 3, . . . .

Multi-step prediction intervals for ARIMA(0,0,q):

vT|T+h = σ21 + h−1∑

i=1θ2i

, for h = 2, 3, . . . .

AR(1): Rewrite as MA(∞) and use above result.Other models beyond scope of this workshop.

Multi-step prediction intervals for ARIMA(0,0,q):

vT|T+h = σ21 + h−1∑

i=1θ2i

, for h = 2, 3, . . . .

AR(1): Rewrite as MA(∞) and use above result.Other models beyond scope of this workshop.

Prediction intervals

Prediction intervals increase in size with forecasthorizon.Prediction intervals can be difficult to calculate byhandCalculations assume residuals are uncorrelated andnormally distributed.Prediction intervals tend to be too narrow.

the uncertainty in the parameter estimates has not beenaccounted for.the ARIMA model assumes historical patterns will notchange during the forecast period.the ARIMA model assumes uncorrelated future errors

7 Forecasting

8 Lab session 11

Forecasting using R Lab session 11 64

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Forecasting using R Lab session 11 65

Forecasting using R0 20 40 60 80 100 Time MA(2) Forecasting using R Moving average models 9 MA(1)...

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VALVES - Firepipe Supply | Home · 65 T/E Yes 80 T/E 80 RG 100 T/E 100 RG 150 T/E 150 RG 200 T/E 200 RG Diaphragm Valve Dorot Available Sizes Other Sizes 20 Yes used For Pump Circulation

SEXT - University of LimerickSEXT ANT 153 Num b er Accept Reject % Accept % Reject Dynix 20 0 100 Lotus 20 0 100 T rados 20 0 100 T otal 60 0 100 T able 9.3.1: Phase I acceptance and

OAHHS LEAN WEBINAR OCTOBER 14TH,2014 yoke . Preventing ... t e t 1000 800 600 400 200 0 100 80 60 40 20 0 ... TV Malfunction Call Light Cleanliness Temp 20 15 10 5 0 100 80 60 40 20

Toughsat T-100

Instruction Manual TN-100/T-100 - RS Hydro · 2012. 12. 6. · Instruction Manual TN-100/ T-100 1 1. Overview Thank you for selecting the waterproof portable TN-100/ T-100 turbidimeter

100 t, and

T-100 WATCHDOG

Kate- gorie1 20 40 60 80 100 Kate- gorie2 20 40 60 80 100 Kate- gorie3 20 40 60 80 100 Kate- gorie4 20 40 60 80 100 Kate- gorie5 20 40 60 80 100