Definition. A finite collection of events A1,…,An∈F are independent, if for each collection of events B1,…,Bn, for which either Bi=Ω or Bi=Ai, i∈[n], it holds that
Pr[B1∩…∩Bn]=Pr[B1]⋯Pr[Bn].
Since every Bi=Ω can be suppressed on each side of the equation, this is equivalent to that for each set of distinct indices i1,i2…,ik between 1 to n,
Pr[Ai1∩…∩Aik]=Pr[Ai1]⋯Pr[Aik].
Definition. An infinite (perhaps uncountable) collection of events {Aθ,θ∈Θ} are independent if each of its finite sub-collections of events are independent.
Independence Classes
Definition. A finite classes A1,…,An⊆F are independent, if for each choice of Ai∈Ai,i∈[n], the events Ai,i∈[n] are independent.
Definition. An infinite (perhaps uncountable) collection of classes {Aθ:θ∈Θ} are independent if for each choice of Aθ∈Aθ,θ∈Θ, the events {Aθ,θ∈Θ} are independent.
Observe that by the definition of independence of infinite collection of event, the independence of {Aθ:θ∈Θ} is equivalent to the independence of each finite sub-collection Aθ1,…,Aθk of the class.
Independent σ-fields
The following theorem underpins a number of theorems related to independence of random variables.
It states that to decide a collection of σ-fields are independent, it suffices to show that a collection of π-systems generating them are independent.
Theorem. If the classes A1,…,An⊆F are independent and π systems, then σ(A1),…,σ(An) are independent.
Proof.
Fix A2∈A2,…,An∈An.
Define
L≐{E∈F:E,A2,…,An are independent.}.
Lemma.L is a λ system.
Since L contains the π system A1, by π-λ theorem, it follows that σ(A1)⊆L.
Therefore, σ(A1),…,An are independent.
Repeating the process proves that σ(A1),σ(A2),…,An are independent, and so on.
Definition. A random variable X:Ω→R is simple, if it has finite range (assumes finitely many values), and for each x∈R,
{ω∈Ω:X(ω)=x}∈F.
In probability theory, ω is often omitted, and {X=x} is short for {ω∈Ω:X(ω)=x}.
It it easy to see that a random variable can be represented by
X=i∈[n]∑xiIAi,
where the Ai∈F,i∈[n] is a finite partition of Ω.
Definition. For a finite or countably infinite sequence X1,X2,… of random variables, σ(X1,X2,…) is the intersection of all σ-fields with respect to which each Xi is measurable.
Independence
Definition. A finite or countably infinite sequence X1,X2,… of simple random variables are independent, if σ(X1),σ(X2),… are independent.
We study a several importance properties.
Property 1
Theorem. A finite sequence X1,…,Xn of simple random variables are independent, if and only if for each x1,…,xn∈R,
Pr[X1=x1,…,Xn=xn]=Pr[X1=x1]⋯Pr[Xn=xn].
Proof.
If X1,…,Xn of random variables are independent, the equation clearly holds.
It suffices to prove the other direction.
For each i∈[n], let Xi(Ω) be the range of Xi, which is finite.
Define the class
Ai≐{Xi−1(x),x∈Xi(Ω)}∪∅,
which is a π-system, since the Xi−1(x),x∈Xi(Ω) are pairwise disjoint.
Then A1,…,An are independent.
It follows that σ(X1),σ(X2),… are independent.
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Property 2
Next, we prove an important result.
Consider a finite sequence of simple random variables:
X1,1,X2,1,…Xn,1,…………Xk1Xk2…Xkn.
For each i∈[n], fi:Rki→R is a function.
Then
Claim. The fi(Xi,1,…Xki) are independent.
The following theorem states that functions of finite simple random variables are again simple random variables.
Theorem. For a finite sequence X1,…,Xn of simple random variables,
The σ-field σ(X1,…,Xn) consists of the sets
{ω∈Ω:(X1(ω),…,Xn(ω))∈H},
where H∈Rn; H in this representation can be taken finite.
A simple random variable Y is measurable σ(X1,…,Xn) if and only if
Y=f(X1,…,Xn),
for some f:Rn→R.
Proof of Claim One.
Define the function X:Ω→Rn by
X(ω)≐(X1(ω),…,Xn(ω)).
For each H∈Rn, define X−1(H)≐{ω∈Ω:X(ω)∈H}, and define
and the class of sets
X−1(Rn)≐{X−1(H):H∈Rn}.
Step One: X−1(Rn)⊆σ(X1,…,Xn).
Observe that for each x=(x1,…,xn)∈Rn,
X−1(x)={ω∈Ω:X(ω)=x}=∩i∈[n]{ω∈Ω:Xi(ω)=xi}.
Since {ω∈Ω:Xi(ω)=xi}∈σ(X1,…,Xn) for each i∈[n], we have
∩i∈[n]{ω∈Ω:Xi(ω)=xi}∈σ(X1,…,Xn).
Since X, as a function, has finite range, each set
$
\pmb{X}^{-1} (H)
$
is a finite union of sets of the form {ω∈Ω:X(ω)=x}, and therefore belongs to σ(X1,…,Xn).
Step One: σ(X1,…,Xn)⊆X−1(Rn).
It suffices to prove that X−1(Rn) a σ-field.
At a high level, this follows from that Rn is a σ-field.
Since if H∈Rn, then Hˉ∈Rn, it holds that
X−1(H)=X−1(Hˉ)∈X−1(Rn).
Since if Hk∈Rn,k∈N+, then ∪k≥1Hk∈Rn, it holds that
∪k≥1X−1(Hk)=X−1(∪k≥1Hk)∈X−1(Rn).
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Proof of Claim Two.
Suppose that
Y=f(X1,…,Xn)=f∘X
for some f:Rn→R.
Since X has finite range, so does Y.
For each possible output y∈R, Y−1(y) is a finite union of X−1(x) over those x for which f(x)=y.
It follows that Y is measurable σ(X1,…,Xn).
To prove the other direction, suppose that Y is measurable σ(X1,…,Xn).
Since it is a simple random variable, it assumes finite values y1,…,yk.
The σ(X1,…,Xn)-sets Y−1(yi),i∈[k] forms a partition of Ω.
Since Y−1(yi)∈σ(X1,…,Xn), via previous claim, there exists for each i∈[n], a set Hi∈Rn, such that X−1(Hi)=Y−1(yi) and Hi can be taken finite.
For each Hi, we construct a subset Hi′⊆Hi, by removing from Hi the x for which X−1(x)=∅.
The Hi′,i∈[n] are pairwise disjoint.
Finally, for each i∈[n] and each x∈Hi′, define f(x)=yi.
For all other x∈/∪i∈[n]Hi′, define f(x)=0.
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We finish the proof of the claim with another result.
Theorem. Let
X1,1,X2,1,…X1,2,X2,2,…………
be a (possibly countably infinite) sequence of independent simple random variables.
For each n∈N+, suppose the random variable Yn is measurable Fn≐σ(Xn,1,Xn,2,…).
Then Y1,Y2,… are independent.
Remark. The second claim would be much easier to prove, if f is measurable Rn/R.
Random Variables and Vectors
Definition. A function X:Ω→R is a random variable, if it is measurable F/R (or measurable F for short), i.e.,
[X∈H]=X−1(H)∈F,∀H∈R.
Definition. A function X:Ω→Rk is a random vector, if it is measurable F/Rk (or measurable F for short), i.e.,
[X∈H]=X−1(H)∈F,∀H∈Rk.
Consider a function X:Ω→Rk.
For each ω∈Ω, we write the i-th coordinate of X(ω) as Xi(ω).
Hence, X(ω)=(X1(ω),…,Xk(ω)), and each Xi is itself a function from Ω to R.
Theorem.X is measurable F/Rk (a random vector), if and only if each Xi is measurable F/R ( a random variable).
The proof relies on the following lemma.
Lemma.L≐{H∈Rk:[X∈H]∈F}⊆Rk is a σ-field.
Proof of the Lemma. Observe that L is closed under complement and countable union:
X−1(Hˉ)=Ω−X−1(H)∈F, and X−1(∪n≥1Hn)=∪n≥1X−1(Hn)∈F.
⟸: Suppose that each Xi is measurable, then [Xi≤xi]∈F,i∈[k].
It follows that [X∈H]∈F, and S⊆L.
Since S generates Rk, we have L=Rk.
⟹: Suppose that X is measurable.
Fix an i∈[k].
By setting xj=∞ for each j=i we have
[X∈H]=[Xi≤xi]∈F.
It concludes that Xi is measurable.
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Theorem. The σ-field σ(X)=σ(X1,…,Xk) consists exactly of the sets [X∈H] for H∈Rk.
Proof.
Let G≐{[X∈H]:H∈Rk}⊆F.
Then G is closed under complement and countable union:
Ω−[X∈H]∪n≥1[X∈Hn]=[X∈(Rk−H)]=[X∈∪n≥1Hn].
Hence G is a σ-field, and σ(X)⊆G.
But by the definition of σ(X) and G, we also have G⊆σ(X).
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Theorem. In order that a random variable Y be measurable σ(X1,…,Xk), it is necessary and sufficient that there exists a measurable map f:Rk→R s.t., Y(ω)=f(X1(ω),…,Xk(ω)) for all ω.
Proof.
⟸: this direction is obvious.
⟹: first, assume that Y is a simple random variable which assumes value y1,…,yn.
Then the F-sets [Y=yi],i∈[n] constitute a partition of Ω.
Via the previous theorem, there exists H1,…,Hn∈Rk, such that [Y=yi]=[X∈Hi].
Note that the Hi are not necessarily disjoint.
But we have the following observation: fix an [Y=yi].
Then
The second observation is true, as otherwise, X−1(Hj)=[Y=yj] has non-empty intersection with [Y=yi], a contradiction.
At this point, we can set
Hˉi=Hi−∪j∈[n],j=iHj,
and set Hˉn+1=Rk−∪i∈[n]Hˉi.
Then it still holds that [X∈Hˉi]=[Y=yi],∀i∈[n].
Define the function f:Rk→R by
f=i∈[n]∑yi⋅IHˉi+0⋅IHˉn+1.
Clearly it holds that Y=f∘X.
Next, we treat the general case.
There exists a sequence of simple random variables Yn→Y.
Let fn be the corresponding simple functions for which Yn=fn∘X.
Since the fn are measurable, so are the functions supnfn and infnfn.
It follows that the set C≐{t∈Rk:supnfn(t)=infnfn(t)} for which the fn converges lies in Rk.
Define the function f by
f(t)={limnfn(t),0 if t∈C, if t∈Rk−C.
It is easy to check that f is measurable.
For each ω∈Ω, we must have Y(ω)=limnYn(ω)=limnfn(X(ω)); hence X(ω)∈C, and limnfn(X(ω))=f(X(ω)).
Then it holds that Y=f∘X.
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Remark. We don't know whether X([Y=yi])∈Rk or not.
Otherwise, we can set Hˉi=X([Y=yi]) so that X−1(Hˉi)=[Y=yi] and the Hˉi,i∈[n] are disjoint automatically.
Independence
Definition. A finite or countably infinite sequence X1,X2,… of random variables are independent, if σ(X1),σ(X2),… are independent.
Theorem. The random variables X1,…,Xn are independent if and only if for all xi∈R,i∈[n],
Pr[X1≤x1,…,Xn≤xn]=Pr[X1≤x1]⋯Pr[Xn≤xn].
Proof.
Since the σ-field σ(Xi) consists exactly of the sets [Xi∈H] for H∈R, X1,…,Xn are independent if and only if for all Hi∈R,i∈[n],
Pr[X1∈H1,…,Xn∈Hn]=Pr[X1∈H1]⋯Pr[Xn∈Hn].
Since the intervals (−∞,xi] forms a π-system generating R, [Xi≤xi] forms a π-system generating σ(Xi), which proves the theorem.
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Corollary. If the Xi are simple random variables, then they are independent if and only if for all xi∈R,i∈[n],
Pr[X1=x1,…,Xn=xn]=Pr[X1=x1]⋯Pr[Xn=xn].
Let X=(X1,…,Xk) have distribution μ and distribution function F.
Let fi:Rk→R be the projection defined by fi(x1,…,xk)=xi, i∈[n].
It is measurable, and therefore Xi=fi∘X is measurable.
Let the Xi have distributions μi and distribution functions Fi (the marginals).
Consider the product measurable μ1×⋯×μk.