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Chapter11.lyx
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Chapter11.lyx
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#LyX 2.3 created this file. For more info see http://www.lyx.org/
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\begin_document
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\begin_body
\begin_layout Chapter*
11.
Regression
\end_layout
\begin_layout Standard
In Sec.
11.1, we introduced the method of least squares.
This method computes coefficients for a linear function to predict one
variable
\begin_inset Formula $y$
\end_inset
based on other variables
\begin_inset Formula $x_{1},...,x_{k}$
\end_inset
.
In this section, we assume that
\begin_inset Formula $y$
\end_inset
values are observed values of a collection of random variables.
In this case, there is a statistical model in which the method of least
squares turns out to produce the maximum likelihood estimates of the parameters
of the models.
\end_layout
\begin_layout Example*
11.2.1 If we learn the boiling point
\begin_inset Formula $x$
\end_inset
of water and want to compute the conditional distribution of the unknown
pressure
\begin_inset Formula $Y$
\end_inset
, is there a statistical model that allows us to say what the (conditional)
distribution of pressure is given that the boiling point is
\begin_inset Formula $x$
\end_inset
?
\end_layout
\begin_layout Standard
\begin_inset Separator plain
\end_inset
\end_layout
\begin_layout Standard
In this section, we shall describe a statistical model for problems such
as the one in Example 11.2.1.
Fitting this statistical model will make use of the method of least squares.
We shall study problems in which we are interested in learning about the
conditional distribution of some random variable
\begin_inset Formula $Y$
\end_inset
for given values of some other variables
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
.
The variables
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
may be random variables whose values are to be observed in an experiment
along with the values of
\begin_inset Formula $Y$
\end_inset
, or they maybe control variables whose values are to be chosen by the experimen
ter.
In general, some of these variables might be random variables, and some
might be control variables.
In any case, we can study the conditional distribution of
\begin_inset Formula $Y$
\end_inset
given
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
.
We begin with some terminalogy.
\end_layout
\begin_layout Definition*
11.2.1.
Response/Predictor/Regression.
The variables
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
are called predictors, and the random variable
\begin_inset Formula $Y$
\end_inset
is called response.
The condition expectation of
\begin_inset Formula $Y$
\end_inset
given values
\begin_inset Formula $x_{1},...,x_{k}$
\end_inset
of
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
is called the regression function of
\begin_inset Formula $Y$
\end_inset
on
\begin_inset Formula $X_{1},....,X_{k}$
\end_inset
or simply the regression of
\begin_inset Formula $Y$
\end_inset
on
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
.
\end_layout
\begin_layout Standard
\begin_inset Separator plain
\end_inset
\end_layout
\begin_layout Standard
The regression of
\begin_inset Formula $Y$
\end_inset
on
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
is a function of the values
\begin_inset Formula $x_{1},...,x_{k}$
\end_inset
of
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
.
In symbols, this function is
\begin_inset Formula $E(Y|x_{1},...,x_{k})$
\end_inset
.
\end_layout
\begin_layout Standard
In this chapter, we shall assume that the regression function
\begin_inset Formula $E(Y|x_{1},...,x_{k})$
\end_inset
is a linear function having the following form:
\end_layout
\begin_layout Standard
\begin_inset Formula
\[
E(Y|x_{1},...,x_{k})=\beta_{0}+\beta_{1}x_{1}+....+\beta_{k}x_{k}\text{ (11.2.1)}
\]
\end_inset
\end_layout
\begin_layout Standard
The coefficients
\begin_inset Formula $\beta_{0},...,\beta_{k}$
\end_inset
in Eq.
(11.2.1) are called regression coefficients.
We shall suppose that these regression coefficients are unknown.
Therefore, they are to be regared as parameters whose values whose values
are to be estimated.
We shall suppose also that
\begin_inset Formula $n$
\end_inset
vectiors of observations are obtained.
For
\begin_inset Formula $i=1,...,n$
\end_inset
, we shall assume that the
\begin_inset Formula $i$
\end_inset
th vector
\begin_inset Formula $(x_{i1},..,x_{ik},y)$
\end_inset
consist of a set of controlled or observed values of
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
and the corresponding observed value of
\begin_inset Formula $Y$
\end_inset
.
\end_layout
\begin_layout Standard
One ser of estimators of the regression coefficients
\begin_inset Formula $\beta_{0},...,\beta_{k}$
\end_inset
that can be calculated from these observations is set of values
\begin_inset Formula $\hat{\beta}_{0},...,\hat{\beta}_{k}$
\end_inset
that are obtained by the method of least squares, as described in Sec.
11.1.
We shall now specify some further assumptions about the conditional distributon
of
\begin_inset Formula $Y$
\end_inset
given
\begin_inset Formula $X_{1},...,X_{k}$
\end_inset
in order to be able to determine in greater detail the properties of these
least-squares estimators.
\end_layout
\begin_layout Section*
Simple Linear Regression
\end_layout
\begin_layout Paragraph*
Assunption 11.2.1 .
\series medium
Predictor is known.
Either the values
\begin_inset Formula $x_{1},...,x_{n}$
\end_inset
are known ahead od time or they are the observed values of random variables
\begin_inset Formula $X_{1},...,X_{n}$
\end_inset
on whose values we condition before computing the joint distribution of
\begin_inset Formula $(Y_{1},...,Y_{n})$
\end_inset
.
\end_layout
\begin_layout Paragraph*
Assumption 11.2.2.
\series medium
Normality.
For
\begin_inset Formula $i=1,...,n$
\end_inset
the conditional distribution of
\begin_inset Formula $Y_{i}$
\end_inset
given the values
\begin_inset Formula $x_{1},...,x_{n}$
\end_inset
is a normal distribution.
\end_layout
\begin_layout Paragraph*
Assumption 11.2.3.
\series medium
Linear Mean.
There are parameters
\begin_inset Formula $\beta_{0}$
\end_inset
and
\begin_inset Formula $\beta_{1}$
\end_inset
such that the conditional mean of
\begin_inset Formula $Y_{i}$
\end_inset
given the values
\begin_inset Formula $x_{1},...,x_{n}$
\end_inset
has the form
\begin_inset Formula $\beta_{0}+\beta_{1}x_{i}$
\end_inset
for
\begin_inset Formula $i=1,...,n$
\end_inset
.
\end_layout
\begin_layout Paragraph*
Assumption 11.2.4.
\series medium
Common Variance.
There is a parameter
\begin_inset Formula $\sigma^{2}$
\end_inset
such that the conditional variance of
\begin_inset Formula $Y_{i}$
\end_inset
given the values
\begin_inset Formula $x_{1},...,x_{n}$
\end_inset
is
\begin_inset Formula $\sigma^{2}$
\end_inset
for
\begin_inset Formula $i=1,..,n$
\end_inset
.
This assumption is often called homoscedasticity.
Random variables with different variances are called heteroscedastic.
\end_layout
\begin_layout Paragraph*
Assumption 11.2.5.
\series medium
Independence.
The random variables
\begin_inset Formula $Y_{1},...,Y_{n}$
\end_inset
are independent given the observed
\begin_inset Formula $x_{1},...,x_{n}$
\end_inset
.
\end_layout
\begin_layout Standard
Asummptions 11.2.1-11.2.5 specify the conditional joint distribution of
\begin_inset Formula $Y_{1},...,Y_{n}$
\end_inset
given the vector
\begin_inset Formula $\mathbf{x}=(x_{1},...,x_{n})$
\end_inset
and the parameters
\begin_inset Formula $\beta_{0},\beta_{1}$
\end_inset
and
\begin_inset Formula $\sigma^{2}$
\end_inset
.
In particular, the conditional joint p.d.f.
of
\begin_inset Formula $Y_{1},...,Y_{n}$
\end_inset
is
\end_layout
\begin_layout Standard
\begin_inset Formula
\[
f_{n}(\mathbf{y}|\mathbf{x},\beta_{0},\beta_{1},\sigma^{2})=\frac{1}{(2\pi\sigma^{2})^{n/2}}exp[\frac{-1}{2\sigma^{2}}\sum_{i=1}^{n}(y_{i}-\beta_{0}-\beta_{1}x_{i})^{2}].(11.2.2)
\]
\end_inset
\end_layout
\begin_layout Standard
We can now find the M.L.E.'s of
\begin_inset Formula $\beta_{0},\beta_{1},$
\end_inset
and
\begin_inset Formula $\sigma^{2}.$
\end_inset
\end_layout
\begin_layout Theorem*
11.2.1.
Simple Linear Regression M.L.E.'s.
Assume Assumptions 11.2.1-11.2.5.
The M.L.E's of
\begin_inset Formula $\beta_{0}$
\end_inset
and
\begin_inset Formula $\beta_{1}$
\end_inset
are the least-squares estimates, and the M.L.E.
of
\begin_inset Formula $\sigma^{2}$
\end_inset
is
\end_layout
\begin_layout Theorem*
\begin_inset Formula
\[
\hat{\sigma}^{2}=\frac{1}{n}\sum_{i=1}^{n}(y_{i}-\hat{\beta}_{0}-\hat{\beta}_{1}x_{i})^{2}\text{(11.2.3)}
\]
\end_inset
\end_layout
\begin_layout Standard
\begin_inset Separator plain
\end_inset
\end_layout
\begin_layout Section*
The Distribution of the Least-Squares Estimators
\end_layout
\begin_layout Standard
The estimators are
\end_layout
\begin_layout Standard
\begin_inset Formula
\[
\hat{\beta}_{1}=\frac{\sum_{i=1}^{n}(Y_{i}-\bar{y})(x_{i}-\bar{x})}{\sum_{i=1}^{n}(x_{i}-\bar{x})^{2}}
\]
\end_inset
\end_layout
\begin_layout Standard
\begin_inset Formula
\[
\hat{\beta}_{0}=\bar{Y}-\hat{\beta}_{1}\bar{x}
\]
\end_inset
\end_layout
\begin_layout Standard
Where
\begin_inset Formula $\bar{Y}=\bar{Y}-\hat{\beta}_{1}\bar{x}$
\end_inset
\end_layout
\begin_layout Standard
It is convenient, both for this section and the next, to introduce the symbol
\end_layout
\begin_layout Standard
\begin_inset Formula
\[
s_{x}=(\sum_{i=1}^{n}(x_{i}-\bar{x})^{2})^{1/2}\text{(11.2.4)}
\]
\end_inset
\end_layout
\begin_layout Theorem*
11.2.2.
Distributions of Least-Squares Estimators.
Under Assumptions 11.2.1-11.2.5, the distribution of
\begin_inset Formula $\hat{\beta}_{1}$
\end_inset
is normal distribution with mean
\begin_inset Formula $\beta_{1}$
\end_inset
and variance
\begin_inset Formula $\sigma^{2}/s_{x}^{2}$
\end_inset
.
The distribution of
\begin_inset Formula $\hat{\beta}_{0}$
\end_inset
is normal distribution with mean
\begin_inset Formula $\beta_{0}$
\end_inset
and variance
\end_layout
\begin_layout Theorem*
\begin_inset Formula
\[
\sigma^{2}(\frac{1}{n}+\frac{\bar{x}^{2}}{s_{x}^{2}})\text{ (11.2.5)}
\]
\end_inset
\end_layout
\begin_layout Theorem*
Finally, the covariance of
\begin_inset Formula $\hat{\beta}_{1}$
\end_inset
and
\begin_inset Formula $\hat{\beta}_{0}$
\end_inset
is
\end_layout
\begin_layout Theorem*
\begin_inset Formula
\[
Cov(\hat{\beta}_{0},\hat{\beta}_{1})=-\frac{\bar{x}\sigma^{2}}{s_{x}^{2}}\text{ (11.2.6)}
\]
\end_inset
\end_layout
\begin_layout Theorem*
(All of the distributonal statements in this theorem are conditional on
\begin_inset Formula $X_{i}=x_{i}$
\end_inset
for
\begin_inset Formula $i=1,...,n$
\end_inset
if
\begin_inset Formula $X_{1},..,X_{n}$
\end_inset
are random variables.)
\end_layout
\begin_layout Standard
\begin_inset Separator plain
\end_inset
\end_layout
\begin_layout Standard
A simple corolary to Theorem 11.2.2 is that
\begin_inset Formula $\hat{\beta}_{0}$
\end_inset
and
\begin_inset Formula $\hat{\beta}_{1}$
\end_inset
are, respectively, unbiased estimators of the corresponding parameters
\begin_inset Formula $\beta_{0}$
\end_inset
and
\begin_inset Formula $\beta_{1}$
\end_inset
.
\end_layout
\begin_layout Standard
To complete the description of the joint distribution of
\begin_inset Formula $\hat{\beta_{0}}$
\end_inset
and
\begin_inset Formula $\hat{\beta_{1}}$
\end_inset
, it will be shown in Sec.
11.3 that this joint distribution is the bivariate normal distribution for
which the means, variances, and covariance are as stated in Theorem 11.2.2.
\end_layout
\begin_layout Section*
Prediction
\end_layout
\begin_layout Example*
11.2.4.
Predicting Pressure from the Boiling Point of Water.
In Example 11.2.1, Forbes was trying to find a way to use the boiling point
of water to estimatr the barometric pressure.
Suppose that a traveler measures the boiling point of water to be 201.5
degrees.
What estimate of barometric pressure should the give and how much uncertainty
is there about estimate.
\end_layout
\begin_layout Standard
\begin_inset Separator plain
\end_inset
\end_layout
\begin_layout Standard
Suppose tht
\begin_inset Formula $n$
\end_inset
pairs of observations
\begin_inset Formula $(x_{1},Y_{1}),...,(x_{n},Y_{n})$
\end_inset
are to be obtained in a problem of simple linear regression, and on the
basis of these
\begin_inset Formula $n$
\end_inset
pairs, it is necessary to predict the value of an independent observation
\begin_inset Formula $Y$
\end_inset
that will be obtained when certain specified value
\begin_inset Formula $x$
\end_inset
is assigned to the control variable.
Since the observation
\begin_inset Formula $Y$
\end_inset
will have the normal distribution with mean
\begin_inset Formula $\beta_{0}+\beta_{1}x$
\end_inset
and variance
\begin_inset Formula $\sigma^{2}$
\end_inset
, it is natural to use
\begin_inset Formula $\hat{Y}=\hat{\beta}_{0}+\hat{\beta}_{1}x$
\end_inset
as the predicted value of
\begin_inset Formula $Y$
\end_inset
.
We shall now determine the M.S.E.
\begin_inset Formula $E[(\hat{Y}-Y)^{2}]$
\end_inset
of this prediction, where both
\begin_inset Formula $\hat{Y}$
\end_inset
and
\begin_inset Formula $Y$
\end_inset
are random variables.
\end_layout
\begin_layout Theorem*
11.2.3.
M.S.E of Prediction.
In the prediction problem just described,
\end_layout
\begin_layout Theorem*
\begin_inset Formula
\[
E[(\hat{Y}-Y)]=\sigma^{2}[1+\frac{1}{n}+\frac{(x-\bar{x})^{2}}{s_{x}^{2}}]\text{ (11.2.11)}
\]
\end_inset
\end_layout
\begin_layout Standard
\begin_inset Separator plain
\end_inset
\end_layout
\begin_layout Example*
11.2.5.
The M.S.E.
\begin_inset Formula $1.0628\sigma^{2}$
\end_inset
can be interpreted as follows: If we knew the values of
\begin_inset Formula $\beta_{0}$
\end_inset
and
\begin_inset Formula $\beta_{1}$
\end_inset
and tried to predict
\begin_inset Formula $Y$
\end_inset
, the M.S.E.
would be
\begin_inset Formula $Var(Y)=\sigma^{2}$
\end_inset
.
Having to estimate
\begin_inset Formula $\beta_{0}$
\end_inset
and
\begin_inset Formula $\beta_{1}$
\end_inset
only costs us an additional
\begin_inset Formula $0.0628\sigma^{2}$
\end_inset
in M.S.E.
\end_layout
\begin_layout Standard
\begin_inset Separator plain
\end_inset
\end_layout
\begin_layout Paragraph*
Note: M.S.E.
of Prediction Increases as
\begin_inset Formula $x$
\end_inset
Moves Away from Observed Data.
\series medium
The M.S.E.
in Eq.
(11.2.11) increases as
\begin_inset Formula $x$
\end_inset
moves away from
\begin_inset Formula $\bar{x}$
\end_inset
, and it is smallest when
\begin_inset Formula $x=\bar{x}$
\end_inset
.
This indicates that it is harder to predict
\begin_inset Formula $Y$
\end_inset
when
\begin_inset Formula $x$
\end_inset
it not near center the center of the observed values
\begin_inset Formula $x_{1},...,x_{n}$
\end_inset
.
Indeed, if
\begin_inset Formula $x$
\end_inset
is larger than largest observed
\begin_inset Formula $x_{i}$
\end_inset
or smaller that the smallest one, it is quite difficult to predict
\begin_inset Formula $Y$
\end_inset
with much precision.
Such predictions outside the range of the observed data are called
\emph on
extrapolations.
\end_layout
\begin_layout Standard
Linearlity can then be checked by visual inspection of the plotted points
and the fitting of a polynomial of degree two or higher.
\end_layout
\begin_layout Section*
Summary
\end_layout
\begin_layout Standard
We considered the following statistical model.
The values
\begin_inset Formula $x_{1},...,x_{n}$
\end_inset
are assumed known.
The random variables
\begin_inset Formula $Y_{1},...,Y_{n}$
\end_inset
are independent with
\begin_inset Formula $Y_{i}$
\end_inset
having the normal distribution with mean
\begin_inset Formula $\beta_{0}+\beta_{1}x_{i}$
\end_inset
and variance
\begin_inset Formula $\sigma^{2}$
\end_inset
.
Here,
\begin_inset Formula $\beta_{0},\beta_{1},$
\end_inset
and
\begin_inset Formula $\sigma^{2}$
\end_inset
are unkown parameters .
These are the assumptions of the simple linear regression model.
Under this model, the joint distribution of the least-squares estimators
\begin_inset Formula $\hat{\beta}_{0}$
\end_inset
and
\begin_inset Formula $\hat{\beta}_{1}$
\end_inset
is a bivariate normal distribution with
\begin_inset Formula $\hat{\beta}_{i}$
\end_inset
having mean
\begin_inset Formula $\beta_{i}$
\end_inset
for
\begin_inset Formula $i=1,2$
\end_inset
.
The variances are given in Eqs.
(11.2.5) and (11.2.9).