Chapter 1
Introduction
Before we start, let us clarify some notations.
General comment: The dimension of a random vector is typically denoted by d ≥ 2.
Important sets: N denotes the set of natural numbers {1, 2, . . .}, and
N0 := {0} ∪
N.
R denotes the set of real numbers. Moreover, for
d ∈
N,
Rd denotes the set of all
d-dimensional row vectors with entries in
R. For
v := (
v1, . . . ,
vd) ∈
Rd, we denote by
v′ its transpose. For some set
A, we denote by
B(
A) the corresponding Borel
σ-algebra, which is generated by all open subsets of
A. The cardinality of a set
A is denoted by |
A|. Subsets and proper subsets are denoted by
A ⊂
B and
A B, respectively.
Probability spaces: A probability space is denoted by (Ω,
F,
P), with
σ-algebra
F and probability measure
P. The corresponding expectation operator is denoted by
E. The variance, covariance, and correlation operators are written as Var, Cov, Corr, respectively. Random variables (or vectors) are mostly denoted by the letter
X (respectively
X := (
X1, . . . ,
Xd)). As an exception, we write
U := (
U1, . . . ,
Ud) for a
d-dimensional random vector with a copula as joint distribution function.
1 If two random variables
X1,
X2 are equal in distribution, we write
X1 X2. Similarly,
denotes convergence in distribution. Elements of the space Ω, usually denoted by
ω, are almost always omitted as arguments of random variables, i.e. instead of writing
X(
ω), we simply write
X. Finally, the acronym i.i.d. stands for “
independent and
identically
distributed”.
Functions: Univariate as well as
d-dimensional distribution functions are denoted by capital letters, mostly
F or
G. Their corresponding survival functions are denoted
,
. As an exception, a copula is denoted by the letter
C; its arguments are denoted (
u1, . . . ,
ud) ∈ [0, 1]
d. The characteristic
function of a random variable
X is denoted by
ϕX(
x) :=
E[exp(
ixX)]. The Laplace transform of a non-negative random variable
X is denoted by
φX(
x) :=
E[exp(−
xX)]. Moreover, the
nth derivative of a real-valued function
f is abbreviated as
f(n); for the first derivative we also write
f′. The natural logarithm is denoted log.
Stochastic processes: A stochastic process X : Ω × [0, ∞) → R on a probability space (Ω, F, P) is denoted by X = {Xt}t≥0, i.e. we omit the argument ω ∈ Ω. The time argument t is written as a subindex, i.e. Xt instead of X(t). This is in order to avoid confusion with deterministic functions f, whose arguments are written in brackets, i.e. f(x).
Important univariate distributions: Some frequently used probability distributions are introduced here. Sampling univariate random variables is discussed in Chapter 6.
(1)
U[
a,
b] denotes the uniform distribution on [
a,
b] for −∞ <
a <
b < ∞. Its density is given by
f(
x) =
{x∈[a,b]} (
b −
a)
−1 for
x ∈
R.
(2)
Exp(
λ) denotes the exponential distribution with parameter
λ > 0, i.e. with density
f(
x) =
λ exp(−
λx)
{x>0} for
x ∈
R.
(3)N(µ, σ2) denotes the normal distribution with mean µ ∈ R and variance σ2 > 0. Its density is given by
(4)LN(µ, σ2) denotes the lognormal distribution. Its density is given by
(5)Γ(β, η) denotes the Gamma distribution with parameters β, η > 0, i.e. with density
Note in particular that the expo...