Trend estimation of multivariate time series with controlled smoothness

This paper extends the univariate time series smoothing approach provided by penalized least squares to a multivariate setting, thus allowing for joint estimation of several time series trends. The theoretical results are valid for the general multivariate case, but particular emphasis is placed on the bivariate situation from an applied point of view. The proposal is based on a vector signal-plus-noise representation of the observed data that requires the first two sample moments and specifying only one smoothing constant. A measure of the amount of smoothness of an estimated trend is introduced so that an analyst can set in advance a desired percentage of smoothness to be achieved by the trend estimate. The required smoothing constant is determined by the chosen percentage of smoothness. Closed form expressions for the smoothed estimated vector and its variance-covariance matrix are derived from a straightforward application of generalized least squares, thus providing best linear unbiased estimates for the trends. A detailed algorithm applicable for estimating bivariate time series trends is also presented and justified. The theoretical results are supported by a simulation study and two real applications. One corresponds to Mexican and US macroeconomic data within the context of business cycle analysis, and the other one to environmental data pertaining to a monitored site in Scotland.