By Darrell Duffie and Peter Glynn, Stanford University, 1995 Paper Review by: Niv Nayman Technion- Israel Institute of Technology July 2015 - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go Definition. We say that a random process, X t : t 0, is a Brownian motion with parameters (µ,σ) if 1. For 0 < t1 < t2 < …< tn-1 < tn X t2 X t1 , X t3 X t2 , ... , X tn X tn1 are mutually independent. 2. For s>0, X s t X t N s, 2 s 3. Xt is a continuous function of t. We say that Xt is a B (µ,σ) Brownian motion with drift µ and volatility σ Remark. Bachelier (1900) – Modeling in Finance Einstein (1905) – Modeling in Physics Wiener (1920’s) – Mathematical formulation When µ=0 and σ=1 we have a Wiener Process or a standard Brownian motion (SBM) . We will use Bt to denote a SBM and we always assume that B0=0 Then, Bt Bt B0 N 0, t Note that if Xt ~B (µ,σ) and X0=x then we can write X t x t Bt Where Bt is an SBM. Therefore see that Xt N x t , 2t Since, E Xt x t E Bt x t Var X t 2 Var Bt 2t - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go Definition. A partition of an interval [0,T] is a finite sequence of numbers πT of the form T : [(t1 , t2 , , tn1 , tn ) | 0 t1 t2 tn1 tn T ] Definition. The norm or mesh of a partition πT is the length of the longest of it’s subintervals, that is h : T max ti ti 1 i 1,...,n Recall the Riemann integral of a real function µ n s, X ds lim t t s 0 h 0 i 1 i 1 , X i 1 ti ti 1 And the Riemann-Stieltjes integral of a real function µ w.r.t a real function gt=g(t) t 0 s, X s dg s lim ti 1 , X i 1 gt gt n h 0 i i 1 i 1 Then the Itō integral of a random process σ w.r.t a SBM Bt s, X dB t 0 s s n lim ti 1 , X i 1 Bti Bti1 h 0 i 1 It can be shown that this limit converges in probability. A stochastic differential equation (SDE) is of the form dX t t , X t dt t , X t dBt Which is a short-hand of the integral equation X t X 0 s, X s ds s, X s dBs t t 0 0 Where Bt is a Wiener Process (SBM). s, X ds s, X dB t 0 is a Riemann integral. s t 0 s s is an Itō integral. An Itō process in n-dimensional Euclidean space X : 0,T is a process Xt n defined on a probability space , , P n and satisfying a stochastic differential equation of the form dX t t , X t dt t , X t dBt Where T>0 Bt is a m-dimensional SBM : 0,T : 0,T Such that n n C , D n satisfies the Lipschitz continuity and polynomial growth conditions. nm satisfies the Lipschitz continuity and polynomial growth conditions. : t 0, T ; x, y n t, x t, y t, x t, y C x y Where : i 2 i 2 and : ij 2 i, j 2 ; t , x t , x D 1 x . These conditions ensure the existence of a unique strong solution Xt to the SDE (Øksendal 2003) A time-homogeneous Itō Diffusion in n-dimensional Euclidean space X : is a process Xt n defined on a probability space , , P n and satisfying a stochastic differential equation of the form dX t X t dt X t dBt Where Bt is a m-dimensional SBM : n n : n nm Meaning Where is Lipschitz continuous. is Lipschitz continuous. C : i 2 i 2 s.t. x, y and x y x y C x y n : ij 2 i, j 2 . This condition ensures the existence of a unique strong solution Xt to the SDE (Øksendal 2003). Suppose Xt is an Itō process satisfying the SDE dX t t , X t dt t , X t dBt And f(t,x) is a twice- differentiable scalar function. Then f f 2 2 f f df dt dBt 2 t x 2 x x In more detail 2 f f 1 f 2 f df t , X t t , X t t , X t t , X t t , X t t , X dt t , X t , X t dBt t t 2 t x 2 x x Sketch of proof The Taylor series expansion of f(t,x) is Recall that dBt Bt dt Bt ~ N 0, dt O Substituting x X t and dx dt dBt f f 1 2 f 2 df dt dx dx ... t x 2 x 2 dt gives f f 1 2 f df dt dt dBt 2 dt 2 2 dtdBt 2 dBt 2 ... 2 t x 2 x As dt 0 the terms dt 2 and dtdBt O dt1.5 tend to zero faster. Setting dBt 2 dt and we are done. Suppose Xt satisfies following SDE dX t t , X t dt t , X t dBt With t , X t X t and t , X t X t Thus the SDE turns into dX t X t dt X t dBt Since f t , X t log X t is a twice- differentiable scalar function in (0,∞) By Itō Lemma we have Then f f 2 2 f f df dt dBt 2 t x 2 x x d log X t 1 0 X t Xt The integral equation Finally log X t 2 Xt2 1 1 dt X t 2 X t 2 Xt 2 dBt dt dBt 2 t 2 2 log X 0 ds 0 dBs log X 0 t Bt 0 2 2 X t X 0e t 2 t Bt 2 If X0 >0 then Xt > 0 for all t> 0 Definition. We say that a random process, X t : t 0 , is a geometric Brownian motion (GBM) if for all t≥0 X t X 0e 2 t Bt 2 Where Bt is an SBM. We say that Xt ~GBM (µ,σ) with drift µ and volatility σ Note that X t s X 0e X 0e Xte 2 t s Bt s 2 2 2 t Bt s Bs t Bt 2 2 2 s Bs t Bt 2 -a representation which we will later see that is useful for simulating security prices. Define Et : Et | t , where t denotes the information available at time t. Recall the moment generating function of Y M Y s E e e sY N , 2 1 2 s 2 s2 Suppose Xt ~GBM (µ,σ) , then 2 s Bs t Bt 2 Et X t s Et X t e Xte Xte 2 s 2 ~ N 0,s B B Et e st t 2 2 s s 2 2 X t es - So the expected growth rate of Xt is µ Note that, X t s e Xt 2 s Bt s Bt 2 X t s 2 log s Bt s Bt X 2 t Thus 1. Fix t1 < t2 < …< tn-1 < tn . Then X tn X t2 X t3 , ,..., X t1 X t2 X tn1 are mutually independent. 2. Paths of Xt are continuous as a function of t, i.e. they do not jump. 3. For s>0, X log t s Xt 2 2 ~ N s , s 2 - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go The Black-Scholes equation is a partial differential equation (PDE) satisfied by a derivative (financial) of a stock price process that follows a deterministic volatility GBM, under the no-arbitrage condition and risk neutrality settings. Starting with a stock price process St : t 0 that follows GBM dSt St dt St dBt St S0e 2 t Bt 2 We represent the price of the derivative of the stock price process as f t , St ert St K Where f : 2 a twice- differentiable scalar function at St>K. r – interest rate K- strick price We apply the Itō lemma f f 2 St 2 2 f f df St dt St dBt 2 t s 2 s s The arbitrage-free condition serves to eliminate the stochastic BM component, leaving only a deterministic PDE. f f 2 St 2 2 f df St dt 2 t s 2 s f f 2 St 2 2 f rSt rf 2 we have the celebrated BS PDE: t s 2 s Risk neutrality is achieved by setting µ = r With df rf dt A more elaborated model, dealing with a stochastic volatility stock price process that follows a GBM dSt St dt vt St dBtS Where vt , the instantaneous variance, is a Cox–Ingersoll–Ross (CIR) process dvt vt dt vt St dBtv S v and Bt , Bt are SBM with correlation ρ, or equivalently, with covariance ρdt. μ is the rate of return of the asset. θ is the long variance, or long run average price variance: as t tends to infinity, the expected value of νt tends to θ. κ is the rate at which νt reverts to θ. σ is the volatility of the volatility. - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go Suppose X t n is an Itō process satisfying the SDE dX t t , X t dt t , X t dBt and one is interested in computing E f X T l Sometimes it is hard to analytically solve the SDE or to determine its distribution. Although numerical computations methods are usually available (i.e. the Kolmogorov backward equation (KBE) via some finite-difference algorithm), in some cases it is convenient to obtain a Monte Carlo approximation l This requires simulation of the system. 1 N f Xˆ N i 1 i T The Monte Carlo realizations are done by simulating a discrete-time approximation of the continuous-time SDE. The time interval [0,T] is sampled at periods of length h>0. h Denote Xˆ as Xt evaluated at t=kh. k Thus Xˆ Thh is the discrete evaluation of XT. Denote the approximation of l E f X T by lh E f Xˆ h . T h And the approximation error by eh lh l . eh 0 . It can be shown, under some technical conditions, that lim h 0 Definition. A sequence eh has order-k convergence if eh h k is bounded in h. The integral equation form of the SDE X t h X t t h t t h s, X s ds s, X s dBs t The Euler method approximates the integrals using the left point rule. t h t s, X s ds t , X t t, X t h t h t ds t h t s, X s dBs t , X t t h t dBs t , X t Bt h Bt t , X t h With ε~N(0,1). h Thus, one can evaluate XT with Xˆ Thh by starting at Xˆ 0 x and proceeding by Xˆ kh1 Xˆ kh kh, Xˆ kh h kh, Xˆ kh h k 1 For k=0,…, T/h-1. Where ε1,ε2,… are N(0,1) i.i.d. h Note. The processes Xt and Xˆ T h are not necessarily defined on the same probability space (Ω,Σ,Ρ). Is said to be a first-order discretizaion scheme Xˆ kh1 Xˆ kh kh, Xˆ kh h kh, Xˆ kh h k 1 In which eh has order-1 convergence. There is an error coefficient h s.t. eh h h has a order-2 convergence. The error coefficient gives a notion of bias in the approximation. Although usually unknown it can be approximated to first order by h 2 l2 h lh h Under the polynomial growth condition of f (Talay and Tubaro, 1990). The integral equation form of the SDE X t h X t t h t t h s, X s ds s, X s dBs t t , X t X t : t The Milshtein method apply the Itō’s lemma on t , X t X t : t . d t d t t t t 2 2 t t 1 2 t dt dB ' '' t t t t dt t ' t dBt t t t x 2 x 2 x 2 t t t 2 2 t t 1 t dt t dBt t ' t t '' t 2 dt t ' t dBt 2 t x 2 x x 2 The integral form s 1 t t 2 s s 1 s t u ' u u '' u 2 du u ' u dBu t t 2 s s t u ' u u '' u 2 du u ' u dBu Then the original SDE turns into X t h X t t h t t h t s s 1 2 ' '' du ' dB u u u ds t t u u 2 u u t s s 1 2 ' '' du ' dB dBs t u u u u u u u t t 2 As h 0 the terms dsdu O h 2 and dsdBu O h1.5 are ignored. Thus X t h X t t h t h t h t t t ds t dBs t s t u ' u dBu dBs Applying the Euler approximation to the last term we obtain t h t s t u ' u dBu dBs t ' t t h t t ' t t t h t s dBu dBs t ' t t h t Bs Bt dBs Bs dBs Bt Bt h Bt t ' t t h t Bs dBs Bt Bt h Bt 2 1 2 Bt t 2 . Define dYt at t , Yt dt bt t , Yt dBt Bt dBt and suggest a solution Indeed, Yt Yt Yt bt 2 2Yt Y 1 1 dYt at dt bt t dBt 0 11 dt 1 Bt dBt Bt dBt 2 B 2 B B 2 2 t Thus, t h t and t h s t t u Bs dBs t h t dYs Yt h Yt Yt 1 1 Bt h 2 Bt 2 h 2 2 1 1 2 1 1 ' u dBu dBs t ' t Bt h 2 Bt 2 h Bt Bt h Bt 2 t ' t Bt h Bt h t ' t h 2 1 2 2 2 2 Thus t h t t s 1 2 1 1 Bt h 2 Bt 2 h Bt Bt h Bt 2 t ' t Bt h Bt h 2 2 2 u ' u dBu dBs t ' t Then X t h X t t h t t h t h t t t ds t dBs s t u ' u dBu dBs Turns into the Milshtein discretization X t h X t t h t With ε~N(0,1). 1 h t ' t h 2 1 2 Thus, one can evaluate XT with Xˆ h by starting at Xˆ 0h x and proceeding by T h Xˆ kh1 Xˆ kh Xˆ kh h Xˆ kh For k=0,…, T/h-1. Where ε1,ε2,… are N(0,1) i.i.d. 1 h k 1 ' Xˆ kh Xˆ kh h k 12 1 2 If the terms dsdu O h 2 and dsdBu O h 3 2 are to be visible. We have Where And Remark. Euler and Milshtein deal with first and second-order discretization schemes respectively for 1-D SDE with X t . as Talay (1984,1986) provides second-order discretization schemes for n multidimensional SDE with X t : n 1 . - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go The Monte Carlo realizations are done by simulating a discrete-time approximation of the continuous-time SDE. Denote, h (i ) Yi Xˆ T h as the i’th discrete-time simulation output. l h, N e h, N 1 N N f Y i 1 i as a discrete-time crude monte carlo approximation of l l h, N l as the approximation error . N . h The time required to compute l h, N is roughly proportional to n 2T Where n and T are fixed for a given problem. This paper pursues the optimal tradeoff between N and h given limited computation time. E f X T . - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go This paper provides an asymptotically efficient algorithm for the allocation of computing resources to the problem of Monte Carlo integration of continuous-time security prices. The tradeoff between increasing the number of time intervals per unit of time and increasing the number of simulations, given a limited budget of computer time, is resolved for first-order discretization schemes (such as Euler) as well as second- and higher order schemes (such as those of Milshtein or Talay). - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go f is C and satisfies the polynomial growth condition. ˆh i. f X T h f X T h ii. E f Xˆ T h 2 as h E f X T 0 . 2 p p iii. lh l h O h as h iv. as h 0 (i.e. f Xˆ Thh 2 is uniformly integrable ). h0 0 , where β≠0 and p>0. h The (computer) time required to generate f Xˆ is given the deterministic T h h q O h q as h h 0 , where γ>0 and q>0. Given t units of computer time. 1 i. If ht t q2 p or ht t 1 q2 p 0 as t then p t 1 ii. If ht t p t q2 p q2 p q2 p e ht , Nt c , where 0<c<∞, as t then ht t c e ht , Nt q 1 2 cp as t . 1 q2 p 0 as t , where ε is N(0,1) and 2 Var f X T Assuming the discritization error alone has order-p convergence with h lh l O h p h p As the computation budget t gets large t 1 the period ht should have order-1/(q+2p) convergence with t. ht t q2 p c Then the estimation error has order-p/(q+2p) convergence in probability with t. p t 1 q2 p c e ht , Nt 1 q 2 cp If it the above does not hold, ht t 0 / the estimation error does not converge in distribution to zero “as quickly” (i.e. not at this order t e ht , Nt ). q2 p p q2 p It follows that this rule is “Asymptotically Optimal”. 1 Informally, if ht t q2 p t c , where t Nt ht N t h q O h q . c then ht q2 p ht 2 p N t Const Thus, Let T ht nt be the number of time intervals, as ht is the period. For the Euler scheme (p=1) : For the Milshtein or Talay schemes (p=2): nt : 2 nt ht : 1 nt : 2 nt ht : 1 1 For the asymptotically optimal allocation, if ht t Thus p t Thus, q2 p e ht , Nt ht p q2 p h t e h , N h h t 1 t q2 p p 1 p t t t t e ht , Nt ht p As the root-mean-squared estimation error is For the Euler scheme (p=1) : For the Milshtein or Talay schemes (p=2): q2 p e p 2 ht Nt : 4 N t 2 ht N t : 16 N t c then p t q2 p c e ht , Nt c e ht , Nt ht c e ht , N t p c q2 p p q 1 2 1 q and the error bias is β. c q2 p nt : 2 nt ht : 1 2 ht e : 1 nt : 2 nt ht : 1 2 e 2 ht e : 1 4 e cp c p ht p 2 Consider the SDE dX t t , X t dt t , X t dBt t , X t X t rX t with t , X t X t X t X t 0 . The diffusion process Xt>0 which satisfies the constant-elasticity-of-variance model (Cox,1975) dX t rX t dt X t dBt with 0.5,1 , can be simulated by the Euler or Milshtein Schemes. A European call option on the asset with strike price K and expiration date T is Y e rT X T K , has we would try to estimate its initial price f X T e rT Y X T K by E f X T . For γ=1 we obtain the Black-Scholes model. Technical Details. For which f is C and satisfies the polynomial growth conditions everywhere but at x=K. Then it can be uniformly well approximated for above by f x xK 2 x K 2 0,1 . If we take δ to be of order-2p convergence we preserve the quality of aproximation. For 0.5,1 we have f Xˆ h f X T as h 0 (Yamada, 1796 and dominated convergence). T h - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go For the particular case: We take The following results are obtained, Comments For the Euler scheme (p=1) : For the Milshtein scheme (p=2): n : 2 n N : 4 N , e : 1 2 e n : 2 n N : 16 N , e : 1 4 e The assumption hold with other but normal i.i.d increments with zero mean and unit variance uder technical conditions (Talay, 1984,1986). - Brownian Motion - Wiener Process (SBM) - Introduction Discretization Schemes - Stochastic Calculus (Itō’s Calculus) - Stochastic Integral (Itō’s Integral) Stochastic Differential Equation (SDE) Itō Process Diffusion Process Itō’s Lemma Example : Geometric Brownian Motion (GBM) - Security Price Models - The Black-Scholes Model (1973) The Heston Model (1993) Euler Milshtein (1978) Talay (1984, 1986) - Motivation Abstract Assumptions Theorem - Proof Interpretation - Experiments - More to go More monte carlo methods for asset pricing problems: Boyle (1977,1988,1990) Jones and Jacobs (1986) Boyle, Evnine and Gibbs (1989) An Alternative large deviation method for the optimal tradeoff : chapter 10 of Duffie (1992). Extensions Path dependent security payoffs X T T X t dt 0 Stochastic short-term interest rates rt R X t (Duffie,1992) A path dependent “lookback” payoff X T inft X t Extension of the general theory of weak convergence for more general path-dependent functionals More discretization schemes: Slominski (1993,1994), Liu (1993) Adding a memory constraint