where x˜
t0
(1
ˆ) for t 2, and x˜
10
(1
ˆ
2
)
1/2
. This results in the feasible GLS
(FGLS) estimator of the
j
. The error term in (12.33) contains e
t
and also the terms involv-
ing the estimation error in
ˆ. Fortunately, the estimation error in
ˆ does not affect the
asymptotic distribution of the FGLS estimators.
FEASIBLE GLS ESTIMATION OF THE AR(1) MODEL:
(i) Run the OLS regression of y
t
on x
t1
,…,x
tk
and obtain the OLS residuals, uˆ
t
, t
1,2,…,n.
(ii) Run the regression in equation (12.14) and obtain
ˆ.
(iii) Apply OLS to equation (12.33) to estimate
0
,
1
,…,
k
. The usual standard errors,
t statistics, and F statistics are asymptotically valid.
The cost of using
ˆ in place of
is that the feasible GLS estimator has no tractable finite
sample properties. In particular, it is not unbiased, although it is consistent when the data
are weakly dependent. Further, even if e
t
in (12.32) is normally distributed, the t and F
statistics are only approximately t and F distributed because of the estimation error in
ˆ.
This is fine for most purposes, although we must be careful with small sample sizes.
Since the FGLS estimator is not unbiased, we certainly cannot say it is BLUE. Nev-
ertheless, it is asymptotically more efficient than the OLS estimator when the AR(1) model
for serial correlation holds (and the explanatory variables are strictly exogenous). Again,
this statement assumes that the time series are weakly dependent.
There are several names for FGLS estimation of the AR(1) model that come from dif-
ferent methods of estimating
and different treatment of the first observation. Cochrane-
Orcutt (CO) estimation omits the first observation and uses
ˆ from (12.14), whereas
Prais-Winsten (PW) estimation uses the first observation in the previously suggested
way. Asymptotically, it makes no difference whether or not the first observation is used,
but many time series samples are small, so the differences can be notable in applications.
In practice, both the Cochrane-Orcutt and Prais-Winsten methods are used in an iter-
ative scheme. That is, once the FGLS estimator is found using
ˆ from (12.14), we can
compute a new set of residuals, obtain a new estimator of
from (12.14), transform the
data using the new estimate of
, and estimate (12.33) by OLS. We can repeat the whole
process many times, until the estimate of
changes by very little from the previous iter-
ation. Many regression packages implement an iterative procedure automatically, so there
is no additional work for us. It is difficult to say whether more than one iteration helps. It
seems to be helpful in some cases, but, theoretically, the large-sample properties of the
iterated estimator are the same as the estimator that uses only the first iteration. For details
on these and other methods, see Davidson and MacKinnon (1993, Chapter 10).
EXAMPLE 12.4
(Prais-Winsten Estimation in the Event Study)
We estimate the equation in Example 10.5 using iterated Prais-Winsten estimation. For com-
parison, we also present the OLS results in Table 12.1.
426 Part 2 Regression Analysis with Time Series Data