Let (Ω,F,Pr⁡)(\Omega, \mathcal{F}, \Pr) be a probability space.

Independence Events

Definition. A finite collection of events A1,…,An∈FA_1, \ldots, A_n \in \mathcal{F} are independent, if for each collection of events B1,…,BnB_1, \ldots, B_n, for which either Bi=ΩB_i = \Omega or Bi=AiB_i = A_i, i∈[n]i \in [n], it holds that

Pr⁡[B1∩…∩Bn]=Pr⁡[B1]⋯Pr⁡[Bn]. \Pr[ B_1 \cap \ldots \cap B_n ] = \Pr[ B_{1} ] \cdots \Pr[ B_{n} ].

Since every Bi=ΩB_i = \Omega can be suppressed on each side of the equation, this is equivalent to that for each set of distinct indices i1,i2…,iki_1 ,i_2 \ldots ,i_k between 11 to nn,

Pr⁡[Ai1∩…∩Aik]=Pr⁡[Ai1]⋯Pr⁡[Aik]. \Pr[ A_{i_1} \cap \ldots \cap A_{i_k} ] = \Pr[ A_{i_1} ] \cdots \Pr[ A_{i_k} ].

Definition. An infinite (perhaps uncountable) collection of events {Aθ,θ∈Θ}\{ A_\theta, \theta \in \Theta \} are independent if each of its finite sub-collections of events are independent.

Independence Classes

Definition. A finite classes A1,…,An⊆F\mathcal{A}_1, \ldots, \mathcal{A}_n \subseteq \mathcal{F} are independent, if for each choice of Ai∈Ai,i∈[n]A_i \in \mathcal{A}_i, i \in [n], the events Ai,i∈[n]A_i, i \in [n] are independent.

Definition. An infinite (perhaps uncountable) collection of classes {Aθ:θ∈Θ}\{ \mathcal{A}_\theta : \theta \in \Theta \} are independent if for each choice of Aθ∈Aθ,θ∈ΘA_\theta \in \mathcal{A}_\theta, \theta \in \Theta, the events {Aθ,θ∈Θ}\{ A_\theta, \theta \in \Theta \} are independent.

Observe that by the definition of independence of infinite collection of event, the independence of {Aθ:θ∈Θ}\{ \mathcal{A}_\theta : \theta \in \Theta \} is equivalent to the independence of each finite sub-collection Aθ1,…,Aθk\mathcal{A}_{\theta_1}, \ldots, \mathcal{A}_{\theta_k} of the class.

Independent σ\sigma-fields

The following theorem underpins a number of theorems related to independence of random variables. It states that to decide a collection of σ\sigma-fields are independent, it suffices to show that a collection of π\pi-systems generating them are independent.

Theorem. If the classes A1,…,An⊆F\mathcal{A}_1, \ldots, \mathcal{A}_n \subseteq \mathcal{F} are independent and π\pi systems, then σ(A1),…,σ(An)\sigma(\mathcal{A}_1), \ldots, \sigma(\mathcal{A}_n) are independent.

Proof. Fix A2∈A2,…,An∈AnA_2 \in \mathcal{A}_2, \ldots, A_n \in \mathcal{A}_n.

Define

L≐{E∈F:E,A2,…,An are independent.}. \mathcal{L} \doteq \{ E \in \mathcal{F}: E, A_2, \ldots, A_n \text{ are independent.} \}.

Lemma. L\mathcal{L} is a λ\lambda system.

Since L\mathcal{L} contains the π\pi system A1\mathcal{A}_1, by π\pi-λ\lambda theorem, it follows that σ(A1)⊆L\sigma(\mathcal{A}_1) \subseteq \mathcal{L}. Therefore, σ(A1),…,An\sigma(\mathcal{A}_1), \ldots, \mathcal{A}_n are independent.

Repeating the process proves that σ(A1),σ(A2),…,An\sigma(\mathcal{A}_1), \sigma(\mathcal{A}_2), \ldots, \mathcal{A}_n are independent, and so on.

Proof of the Lemma.

  1. Ω∈L\Omega \in \mathcal{L}.

  2. If E∈FE \in \mathcal{F}, then Eˉ∈F\bar E \in \mathcal{F}: if

    Pr⁡[E∩B2∩…∩Bk]=Pr⁡[E]⋅Pr⁡[B2]⋯Pr⁡[Bn]. \Pr[ E \cap B_{2} \cap \ldots \cap B_{k} ] = \Pr[E] \cdot \Pr[ B_2 ] \cdots \Pr[ B_n ].

    where Bi=AiB_i = A_i or Bi=ΩB_i = \Omega, i∈[2. . n]i \in [2 .\,.\, n], then

    Pr⁡[Eˉ∩B2∩…∩Bn]=Pr⁡[B2∩…∩Bn]−Pr⁡[E∩B2∩…∩Bn]=(1−Pr⁡[E])⋅Pr⁡[B2]⋯Pr⁡[Bn]=Pr⁡[Eˉ]⋅Pr⁡[B2]⋯Pr⁡[Bn] \begin{aligned} \Pr[ \bar E \cap B_2 \cap \ldots \cap B_n ] &= \Pr[ B_2 \cap \ldots \cap B_n ] - \Pr[ E \cap B_2 \cap \ldots \cap B_n ] \\ &= (1 - \Pr[E]) \cdot \Pr[ B_2 ] \cdots \Pr[ B_n ] \\ &= \Pr[\bar E] \cdot \Pr[ B_2 ] \cdots \Pr[ B_n ] \end{aligned}
  3. If Ek∈F,k∈N+E_k \in \mathcal{F}, k \in \mathbb{N}^+ are pairwise disjoint, and E=∪k≥1EkE = \cup_{k \ge 1} E_k, then E∈FE \in \mathcal{F}:

    Pr⁡[E∩B2∩…∩Bn]=∑k Pr⁡[Ek∩B2∩…∩Bn]=∑k Pr⁡[Ek]⋅Pr⁡[B2]⋯Pr⁡[Bn]=Pr⁡[E]⋅Pr⁡[B2]⋯Pr⁡[Bn]. \begin{aligned} \Pr[ E \cap B_2 \cap \ldots \cap B_n ] &= \sum_k \, \Pr[ E_k \cap B_2 \cap \ldots \cap B_n ] \\ &= \sum_k \, \Pr[E_k] \cdot \Pr[ B_2 ] \cdots \Pr[ B_n ] \\ &= \Pr[E] \cdot \Pr[ B_2 ] \cdots \Pr[ B_n ]. \end{aligned}

□\square

Simple Random Variable

Definition. A random variable X:Ω→RX : \Omega \rightarrow \mathbb{R} is simple, if it has finite range (assumes finitely many values), and for each x∈Rx \in \mathbb{R},

{ω∈Ω:X(ω)=x}∈F. \{ \omega \in \Omega : X(\omega) = x \} \in \mathcal{F}.

In probability theory, ω\omega is often omitted, and {X=x}\{X = x \} is short for {ω∈Ω:X(ω)=x}\{ \omega \in \Omega : X(\omega) = x \}. It it easy to see that a random variable can be represented by

X=∑i∈[n]xiIAi, X = \sum_{i \in [n]} x_i \mathbb{I}_{A_i},

where the Ai∈F,i∈[n]A_i \in \mathcal{F}, i \in [n] is a finite partition of Ω\Omega.

Definition. For a finite or countably infinite sequence X1,X2,…X_1, X_2, \ldots of random variables, σ(X1,X2,…)\sigma(X_1, X_2, \ldots) is the intersection of all σ\sigma-fields with respect to which each XiX_i is measurable.

Independence

Definition. A finite or countably infinite sequence X1,X2,…X_1, X_2, \ldots of simple random variables are independent, if σ(X1),σ(X2),…\sigma(X_1), \sigma(X_2), \ldots are independent.

We study a several importance properties.

Property 1

Theorem. A finite sequence X1,…,XnX_1, \ldots, X_n of simple random variables are independent, if and only if for each x1,…,xn∈Rx_1, \ldots, x_n \in \mathbb{R},

Pr⁡[X1=x1,…,Xn=xn]=Pr⁡[X1=x1]⋯Pr⁡[Xn=xn]. \Pr[ X_1 = x_1, \ldots, X_n = x_n ] = \Pr[ X_1 = x_1 ] \cdots \Pr[ X_n = x_n ].

Proof. If X1,…,XnX_1, \ldots, X_n of random variables are independent, the equation clearly holds. It suffices to prove the other direction.

For each i∈[n]i \in [n], let Xi(Ω)X_i(\Omega) be the range of XiX_i, which is finite. Define the class

Ai≐{Xi−1(x),x∈Xi(Ω)}∪∅, \mathcal{A}_i \doteq \{ X_i^{-1} (x), x \in X_i(\Omega) \} \cup \emptyset,

which is a π\pi-system, since the Xi−1(x),x∈Xi(Ω)X_i^{-1} (x), x \in X_i(\Omega) are pairwise disjoint. Then A1,…,An\mathcal{A}_1, \ldots, \mathcal{A}_n are independent. It follows that σ(X1),σ(X2),…\sigma(X_1), \sigma(X_2), \ldots are independent.

□\square

Property 2

Next, we prove an important result. Consider a finite sequence of simple random variables:

X1,1,…Xk1X2,1,…Xk2………Xn,1,…Xkn. \begin{matrix} X_{1, 1}, &\ldots &X_{k_1}\\ X_{2, 1}, &\ldots &X_{k_2}\\ \ldots &\ldots &\ldots \\ X_{n, 1}, &\ldots &X_{k_n}. \end{matrix}

For each i∈[n]i \in [n], fi:Rki→Rf_i: \mathbb{R}^{k_i} \rightarrow \mathbb{R} is a function. Then

Claim. The fi(Xi,1,…Xki)f_i(X_{i, 1}, \ldots X_{k_i}) are independent.

The following theorem states that functions of finite simple random variables are again simple random variables.

Theorem. For a finite sequence X1,…,XnX_1, \ldots, X_n of simple random variables,

  1. The σ\sigma-field σ(X1,…,Xn)\sigma(X_1, \ldots, X_n) consists of the sets

    {ω∈Ω:(X1(ω),…,Xn(ω))∈H}, \{ \omega \in \Omega : \left( X_1(\omega), \ldots, X_n(\omega) \right) \in H \},

    where H∈RnH \in \mathcal{R}^n; HH in this representation can be taken finite.

  2. A simple random variable YY is measurable σ(X1,…,Xn)\sigma(X_1, \ldots, X_n) if and only if

    Y=f(X1,…,Xn), Y = f(X_1, \ldots, X_n),

    for some f:Rn→Rf: \mathbb{R}^n \rightarrow \mathbb{R}.

Proof of Claim One. Define the function X:Ω→Rn\pmb{X}: \Omega \rightarrow \mathbb{R}^n by

X(ω)≐(X1(ω),…,Xn(ω)). \pmb{X} (\omega) \doteq \left( X_1(\omega), \ldots, X_n(\omega) \right).

For each H∈RnH \in \mathcal{R}^n, define X−1(H)≐{ω∈Ω:X(ω)∈H}\pmb{X}^{-1} (H) \doteq \{ \omega \in \Omega : \pmb{X} (\omega) \in H \}, and define and the class of sets

X−1(Rn)≐{X−1(H):H∈Rn}. \pmb{X}^{-1} (\mathcal{R}^n) \doteq \left\{ \pmb{X}^{-1} (H) : H \in \mathcal{R}^n \right\}.

Step One: X−1(Rn)⊆σ(X1,…,Xn)\pmb{X}^{-1} (\mathcal{R}^n) \subseteq \sigma(X_1, \ldots, X_n).

Observe that for each x=(x1,…,xn)∈Rn\pmb{x} = (x_1, \ldots, x_n) \in \mathbb{R}^n,

X−1(x)={ω∈Ω:X(ω)=x}=∩i∈[n]{ω∈Ω:Xi(ω)=xi}. \begin{aligned} \pmb{X}^{-1} (\pmb{x}) &= \{ \omega \in \Omega : \pmb{X} (\omega) = \pmb{x} \} \\ &= \cap_{i \in [n]} \{ \omega \in \Omega : X_i(\omega) = x_i \}. \end{aligned}

Since {ω∈Ω:Xi(ω)=xi}∈σ(X1,…,Xn)\{ \omega \in \Omega : X_i(\omega) = x_i \} \in \sigma(X_1, \ldots, X_n) for each i∈[n]i \in [n], we have

∩i∈[n]{ω∈Ω:Xi(ω)=xi}∈σ(X1,…,Xn). \cap_{i \in [n]} \{ \omega \in \Omega : X_i(\omega) = x_i \} \in \sigma(X_1, \ldots, X_n).

Since X\pmb{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}\{ \omega \in \Omega : \pmb{X} (\omega) = \pmb{x} \}, and therefore belongs to σ(X1,…,Xn)\sigma(X_1, \ldots, X_n).

Step One: σ(X1,…,Xn)⊆X−1(Rn)\sigma(X_1, \ldots, X_n) \subseteq \pmb{X}^{-1} (\mathcal{R}^n).

It suffices to prove that X−1(Rn)\pmb{X}^{-1} (\mathcal{R}^n) a σ\sigma-field. At a high level, this follows from that Rn\mathcal{R}^n is a σ\sigma-field.

  1. Since if H∈RnH \in \mathcal{R}^n, then Hˉ∈Rn\bar H \in \mathcal{R}^n, it holds that

    X−1(H)‾=X−1(Hˉ)∈X−1(Rn). \overline{\pmb{X}^{-1} (H)} = \pmb{X}^{-1} (\bar H) \in \pmb{X}^{-1} (\mathcal{R}^n).
  2. Since if Hk∈Rn,k∈N+H_k \in \mathcal{R}^n, k \in \mathbb{N}^+, then ∪k≥1Hk∈Rn\cup_{k \ge 1} H_k \in \mathcal{R}^n, it holds that

    ∪k≥1X−1(Hk)=X−1(∪k≥1Hk)∈X−1(Rn). \cup_{k \ge 1} \pmb{X}^{-1} (H_k) = \pmb{X}^{-1} (\cup_{k \ge 1} H_k) \in \pmb{X}^{-1} (\mathcal{R}^n).

□\square

Proof of Claim Two. Suppose that

Y=f(X1,…,Xn)=f∘X Y = f(X_1, \ldots, X_n) = f \circ \pmb{X}

for some f:Rn→Rf: \mathbb{R}^n \rightarrow \mathbb{R}. Since X\pmb{X} has finite range, so does YY. For each possible output y∈Ry \in \mathbb{R}, Y−1(y)Y^{-1} (y) is a finite union of X−1(x)\pmb{X}^{-1}(\pmb{x}) over those x\pmb x for which f(x)=yf(\pmb{x}) = y. It follows that YY is measurable σ(X1,…,Xn)\sigma(X_1, \ldots, X_n).

To prove the other direction, suppose that YY is measurable σ(X1,…,Xn)\sigma(X_1, \ldots, X_n). Since it is a simple random variable, it assumes finite values y1,…,yky_1, \ldots, y_k.

  • The σ(X1,…,Xn)\sigma(X_1, \ldots, X_n)-sets Y−1(yi),i∈[k]Y^{-1} (y_i), i \in [k] forms a partition of Ω\Omega.

  • Since Y−1(yi)∈σ(X1,…,Xn)Y^{-1} (y_i) \in \sigma(X_1, \ldots, X_n), via previous claim, there exists for each i∈[n]i \in [n], a set Hi∈RnH_i \in \mathcal{R}^n, such that X−1(Hi)=Y−1(yi)\pmb{X}^{-1}(H_i) = Y^{-1} (y_i) and HiH_i can be taken finite.

  • For each HiH_i, we construct a subset Hi′⊆HiH_i' \subseteq H_i, by removing from HiH_i the x\pmb{x} for which X−1(x)=∅\pmb{X}^{-1} (\pmb{x}) = \emptyset. The Hi′,i∈[n]H_i', i \in [n] are pairwise disjoint.

  • Finally, for each i∈[n]i \in [n] and each x∈Hi′\pmb{x} \in H_i', define f(x)=yif(\pmb{x}) = y_i. For all other x∉∪i∈[n]Hi′\pmb{x} \notin \cup_{i \in [n]} H_i', define f(x)=0f(\pmb{x}) = 0.

□\square

We finish the proof of the claim with another result.

Theorem. Let

X1,1,X1,2,…X2,1,X2,2,………… \begin{matrix} X_{1, 1}, &X_{1, 2}, &\ldots \\ X_{2, 1}, &X_{2, 2}, &\ldots \\ \ldots &\ldots &\ldots \end{matrix}

be a (possibly countably infinite) sequence of independent simple random variables. For each n∈N+n \in \mathbb{N}^+, suppose the random variable YnY_n is measurable Fn≐σ(Xn,1,Xn,2,…)\mathcal{F}_n \doteq \sigma(X_{n, 1}, X_{n, 2}, \ldots ). Then Y1,Y2,…Y_1, Y_2, \ldots are independent.

Proof. For each n∈N+n \in \mathbb{N}^+, define the class

An≐{Xn,i1−1(xi1)∩…∩Xn,ik−1(xik):1≤i1<i2<…<ikxi1,…,xik∈R}, \mathcal{A}_n \doteq \left\{ X_{n, i_1}^{-1} (x_{i_1}) \cap \ldots \cap X_{n, i_k}^{-1} (x_{i_k}) : \begin{matrix} 1 \le i_1 < i_2 < \ldots < i_k \\ x_{i_1}, \ldots, x_{i_k} \in \mathbb{R} \end{matrix} \right\},

which is the finite intersections of the sets Xn,k−1(x),k∈N+,x∈RX_{n, k}^{-1} (x), k \in \mathbb{N}^+, x \in \mathbb{R}. It is easy to see that ∅∈An\emptyset \in \mathcal{A}_n, and An\mathcal{A}_n is a π\pi-system. Further,

  • An\mathcal{A}_n generates Fn\mathcal{F}_n, i.e., σ(An)=Fn\sigma(\mathcal{A}_n) = \mathcal{F}_n:

    • σ(An)⊆Fn\sigma(\mathcal{A}_n) \subseteq \mathcal{F}_n: via definition of Fn\mathcal{F}_n, Xn,k−1(x)∈FnX_{n, k}^{-1} (x) \in \mathcal{F}_n, for each k∈N+,x∈Rk \in \mathbb{N}^+, x \in \mathbb{R}. Hence, each element in An\mathcal{A}_n belongs to Fn\mathcal{F}_n, and σ(An)⊆Fn\sigma(\mathcal{A}_n) \subseteq \mathcal{F}_n.

    • σ(An)⊇Fn\sigma(\mathcal{A}_n) \supseteq \mathcal{F}_n: via definition of An\mathcal{A}_n, Xn,k−1(x)∈AnX_{n, k}^{-1} (x) \in \mathcal{A}_n, for each k∈N+,x∈Rk \in \mathbb{N}^+, x \in \mathbb{R}. Hence, each Xn,kX_{n, k} is measurable σ(An)\sigma(\mathcal{A}_n). Via definition of Fn\mathcal{F}_n, σ(An)⊇Fn\sigma(\mathcal{A}_n) \supseteq \mathcal{F}_n.

  • The An\mathcal{A}_n are independent: let n1,…,nmn_1, \ldots, n_m be a finite sequence of indexes in N+\mathbb{N}^+. Suppose that for each j∈[m]j \in [m],

    Bnj≐Xnj,i1(j)−1(xi1(j))∩…∩Xnj,ik(j)−1(xik(j)). B_{n_j} \doteq X_{n_j, i_1(j)}^{-1} (x_{i_1(j)}) \cap \ldots \cap X_{n_j, i_k(j)}^{-1} (x_{i_{k}(j)}).

    Then

    Pr⁡[Bn1∩…∩Bnm]=Pr⁡[∩j∈[m](Xnj,i1(j)−1(xi1(j))∩…∩Xnj,ik(j)−1(xik(j)))]=∏j∈[m]Pr⁡[Xnj,i1(j)=xi1(j)]⋯Pr⁡[Xnj,ik(j)=xik(j)]=∏j∈[m]Pr⁡[Bnj]. \begin{aligned} \Pr[ B_{n_1} \cap \ldots \cap B_{n_m} ] &= \Pr\left[ \cap_{j \in [m]} \left( X_{n_j, i_1(j)}^{-1} (x_{i_1(j)}) \cap \ldots \cap X_{n_j, i_k(j)}^{-1} (x_{i_{k}(j)}) \right) \right] \\ &= \prod_{j \in [m]} \Pr[ X_{n_j, i_1(j)} = x_{i_1(j)}] \cdots \Pr[X_{n_j, i_k(j)} = x_{i_{k}(j)} ] \\ &= \prod_{j \in [m]} \Pr[B_{n_j}]. \end{aligned}

It follows that the Fn\mathcal{F}_n are independent.

□\square

Remark. The second claim would be much easier to prove, if ff is measurable Rn/R\mathcal{R}^n / \mathcal{R}.

Random Variables and Vectors

Definition. A function X:Ω→RX : \Omega \rightarrow \mathbb{R} is a random variable, if it is measurable F/R\mathcal{F} / \mathcal{R} (or measurable F\mathcal{F} for short), i.e.,

[X∈H]=X−1(H)∈F,∀H∈R. [X \in H] = X^{-1}(H) \in \mathcal{F}, \forall H \in \mathcal{R}.

Definition. A function X:Ω→RkX : \Omega \rightarrow \mathbb{R}^k is a random vector, if it is measurable F/Rk\mathcal{F} / \mathcal{R}^k (or measurable F\mathcal{F} for short), i.e.,

[X∈H]=X−1(H)∈F,∀H∈Rk. [X \in H] = X^{-1}(H) \in \mathcal{F}, \forall H \in \mathcal{R}^k.

Consider a function X:Ω→RkX : \Omega \rightarrow \mathbb{R}^k. For each ω∈Ω\omega \in \Omega, we write the ii-th coordinate of X(ω)X(\omega) as Xi(ω)X_i(\omega). Hence, X(ω)=(X1(ω),…,Xk(ω))X(\omega) = (X_1(\omega), \ldots, X_k(\omega)), and each XiX_i is itself a function from Ω\Omega to R\mathbb{R}.

Theorem. XX is measurable F/Rk\mathcal{F} / \mathcal{R}^k (a random vector), if and only if each XiX_i is measurable F/R\mathcal{F} / \mathcal{R} ( a random variable).

The proof relies on the following lemma.

Lemma. L≐{H∈Rk:[X∈H]∈F}⊆Rk\mathcal{L} \doteq \{ H \in \mathcal{R}^k : [X \in H] \in \mathcal{F} \} \subseteq \mathcal{R}^k is a σ\sigma-field.

Proof of the Lemma. Observe that L\mathcal{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. X^{-1}(\bar H) = \Omega - X^{-1}(H) \in \mathcal{F}, \text{ and }\, X^{-1}( \cup_{n \ge 1} H_n ) = \cup_{n \ge 1} X^{-1}(H_n) \in \mathcal{F}.

□\square

Proof of the Theorem.

Define

S≐{(−∞,x1]×⋯×(−∞,xk]:x1,…,xk∈R}. \mathcal{S} \doteq \{ (-\infty, x_1] \times \dotsm \times (-\infty, x_k] : x_1, \dots, x_k \in \mathbb{R} \}.

for each H∈SH \in \mathcal{S},

[X∈H]={ω:X1(ω)≤x1,…,Xk(ω)≤xk}=∩i∈[k]{ω:Xi(ω)≤xi}=∩i∈[k][Xi≤xi]. \begin{align} [X \in H] &= \{ \omega : X_1(\omega) \le x_1, \dots, X_k(\omega) \le x_k \} \\ &= \cap_{i \in [k]} \{ \omega : X_i(\omega) \le x_i \} \\ &= \cap_{i \in [k]} [X_i \le x_i]. \end{align}

  ⟸  :\impliedby: Suppose that each XiX_i is measurable, then [Xi≤xi]∈F,i∈[k][X_i \le x_i] \in \mathcal{F}, i \in [k]. It follows that [X∈H]∈F[X \in H] \in \mathcal{F}, and S⊆L\mathcal{S} \subseteq \mathcal{L}. Since S\mathcal{S} generates Rk\mathcal{R}^k, we have L=Rk\mathcal{L} = \mathcal{R}^k.

  ⟹  :\implies: Suppose that XX is measurable. Fix an i∈[k]i \in [k]. By setting xj=∞x_j = \infty for each j≠ij \neq i we have

[X∈H]=[Xi≤xi]∈F. [X \in H] = [X_i \le x_i] \in \mathcal{F}.

It concludes that XiX_i is measurable.

□\square

Theorem. The σ\sigma-field σ(X)=σ(X1,…,Xk)\sigma(X) = \sigma(X_1, \ldots, X_k) consists exactly of the sets [X∈H][X \in H] for H∈RkH \in \mathcal{R}^k.

Proof. Let G≐{[X∈H]:H∈Rk}⊆F\mathcal{G} \doteq \{ [X \in H] : H \in \mathcal{R}^k \} \subseteq \mathcal{F}. Then G\mathcal{G} is closed under complement and countable union:

Ω−[X∈H]=[X∈(Rk−H)]∪n≥1[X∈Hn]=[X∈∪n≥1Hn]. \begin{align} \Omega - [X \in H] &= [ X \in (\mathbb{R}^k - H) ] \\ \cup_{n \ge 1} [ X \in H_n ] &= [X \in \cup_{n \ge 1} H_n]. \end{align}

Hence G\mathcal{G} is a σ\sigma-field, and σ(X)⊆G\sigma(X) \subseteq \mathcal{G}. But by the definition of σ(X)\sigma(X) and G\mathcal{G}, we also have G⊆σ(X)\mathcal{G} \subseteq \sigma(X).

□\square

Theorem. In order that a random variable YY be measurable σ(X1,…,Xk)\sigma(X_1, \ldots, X_k), it is necessary and sufficient that there exists a measurable map f:Rk→Rf: \mathbb{R}^k \rightarrow \mathbb{R} s.t., Y(ω)=f(X1(ω),…,Xk(ω))Y(\omega) = f(X_1(\omega), \ldots, X_k(\omega)) for all ω\omega.

Proof.

  ⟸  :\impliedby: this direction is obvious.

  ⟹  :\implies: first, assume that YY is a simple random variable which assumes value y1,…,yny_1, \ldots, y_n. Then the F\mathcal{F}-sets [Y=yi],i∈[n][Y = y_i], i \in [n] constitute a partition of Ω\Omega. Via the previous theorem, there exists H1,…,Hn∈RkH_1, \ldots, H_n \in \mathcal{R}^k, such that [Y=yi]=[X∈Hi][Y = y_i] = [X \in H_i].

Note that the HiH_i are not necessarily disjoint. But we have the following observation: fix an [Y=yi][Y = y_i]. Then

X({ω∈Ω:Y(ω)=yi})⊆Hi,X({ω∈Ω:Y(ω)=yi})∩Hj=∅,∀j≠i. \begin{align*} X( \{ \omega \in \Omega: Y(\omega) = y_i \} ) &\subseteq H_i, \\ X( \{ \omega \in \Omega: Y(\omega) = y_i \} ) \cap H_j &= \emptyset, \forall j \neq i. \end{align*}

The second observation is true, as otherwise, X−1(Hj)=[Y=yj]X^{-1}(H_j) = [Y = y_j] has non-empty intersection with [Y=yi][Y = y_i], a contradiction. At this point, we can set

Hˉi=Hi−∪j∈[n],j≠iHj, \bar H_i = H_i - \cup_{j \in [n], j \neq i} H_j,

and set Hˉn+1=Rk−∪i∈[n]Hˉi\bar H_{n + 1} = \mathcal{R}^k - \cup_{i \in [n]} \bar H_i. Then it still holds that [X∈Hˉi]=[Y=yi],∀i∈[n][X \in \bar H_i] = [Y = y_i], \forall i \in [n]. Define the function f:Rk→Rf: \mathbb{R}^k \rightarrow \mathbb{R} by

f=∑i∈[n]yi⋅IHˉi+0⋅IHˉn+1. f = \sum_{i \in [n]} y_i \cdot \mathbb{I}_{\bar H_i} + 0 \cdot \mathbb{I}_{\bar H_{n + 1}}.

Clearly it holds that Y=f∘XY = f \circ X.

Next, we treat the general case. There exists a sequence of simple random variables Yn→YY_n \rightarrow Y. Let fnf_n be the corresponding simple functions for which Yn=fn∘XY_n = f_n \circ X. Since the fnf_n are measurable, so are the functions sup⁡nfn\sup_n f_n and inf⁡nfn\inf_n f_n. It follows that the set C≐{t∈Rk:sup⁡nfn(t)=inf⁡nfn(t)}C \doteq \{ t \in \mathbb{R}^k : \sup_n f_n(t) = \inf_n f_n(t) \} for which the fnf_n converges lies in Rk\mathcal{R}^k. Define the function ff by

f(t)={lim⁡nfn(t), if t∈C,0 if t∈Rk−C. f(t) = \begin{cases} \lim_n f_n(t), & \text{ if } t \in C, \\ 0 & \text{ if } t \in \mathbb{R}^k - C. \end{cases}

It is easy to check that ff is measurable. For each ω∈Ω\omega \in \Omega, we must have Y(ω)=lim⁡nYn(ω)=lim⁡nfn(X(ω))Y(\omega) = \lim_n Y_n (\omega) = \lim_n f_n(X(\omega)); hence X(ω)∈CX(\omega) \in C, and lim⁡nfn(X(ω))=f(X(ω))\lim_n f_n(X(\omega)) = f(X(\omega)). Then it holds that Y=f∘XY = f \circ X.

□\square

Remark. We don't know whether X([Y=yi])∈RkX([Y = y_i]) \in \mathcal{R}^k or not. Otherwise, we can set Hˉi=X([Y=yi])\bar H_i = X([Y = y_i]) so that X−1(Hˉi)=[Y=yi]X^{-1}(\bar H_i) = [Y = y_i] and the Hˉi,i∈[n]\bar H_i, i \in [n] are disjoint automatically.

Independence

Definition. A finite or countably infinite sequence X1,X2,…X_1, X_2, \ldots of random variables are independent, if σ(X1),σ(X2),…\sigma(X_1), \sigma(X_2), \ldots are independent.

Theorem. The random variables X1,…,XnX_1, \dots, X_n are independent if and only if for all xi∈R,i∈[n]x_i \in \mathbb{R}, i \in [n],

Pr⁡[X1≤x1,…,Xn≤xn]=Pr⁡[X1≤x1]⋯Pr⁡[Xn≤xn]. \Pr[ X_1 \le x_1, \ldots, X_n \le x_n ] = \Pr[ X_1 \le x_1 ] \cdots \Pr[ X_n \le x_n ].

Proof. Since the σ\sigma-field σ(Xi)\sigma(X_i) consists exactly of the sets [Xi∈H][X_i \in H] for H∈RH \in \mathcal{R}, X1,…,XnX_1, \dots, X_n are independent if and only if for all Hi∈R,i∈[n]H_i \in \mathcal{R}, i \in [n],

Pr⁡[X1∈H1,…,Xn∈Hn]=Pr⁡[X1∈H1]⋯Pr⁡[Xn∈Hn]. \Pr[ X_1 \in H_1, \ldots, X_n \in H_n ] = \Pr[ X_1 \in H_1 ] \cdots \Pr[ X_n \in H_n ].

Since the intervals (−∞,xi](-\infty, x_i] forms a π\pi-system generating R\mathcal{R}, [Xi≤xi][X_i \le x_i] forms a π\pi-system generating σ(Xi)\sigma(X_i), which proves the theorem.

□\square

Corollary. If the XiX_i are simple random variables, then they are independent if and only if for all xi∈R,i∈[n]x_i \in \mathbb{R}, i \in [n],

Pr⁡[X1=x1,…,Xn=xn]=Pr⁡[X1=x1]⋯Pr⁡[Xn=xn]. \Pr[ X_1 = x_1, \ldots, X_n = x_n ] = \Pr[ X_1 = x_1 ] \cdots \Pr[ X_n = x_n ].

Let X=(X1,…,Xk)X = (X_1, \ldots, X_k) have distribution μ\mu and distribution function FF. Let fi:Rk→Rf_i : \mathbb{R}^k \rightarrow \mathbb{R} be the projection defined by fi(x1,…,xk)=xif_i(x_1,\ldots, x_k) = x_i, i∈[n]i \in [n]. It is measurable, and therefore Xi=fi∘XX_i = f_i \circ X is measurable. Let the XiX_i have distributions μi\mu_i and distribution functions FiF_i (the marginals). Consider the product measurable μ1×⋯×μk\mu_1 \times \dots \times \mu_k.

Theorem. The following conditions are equivalent

  1. XiX_i are independent if and only if
  2. μ=μ1×⋯×μk. \mu = \mu_1 \times \dots \times \mu_k.
  3. F(x1,…,xk)=F(x1)⋯F(xk). F(x_1, \ldots, x_k) = F(x_1) \dotsb F(x_k).

Proof.

μ(H)=(μ1×⋯×μk)(H),∀H∈Rk⟺μ(H1×⋯×Hk)=μ1(H1)⋯μk(Hk),∀H1,…,Hk∈R. \begin{aligned} \mu (H) &= \left( \mu_1 \times \dots \times \mu_k \right) (H), &\forall H \in \mathcal{R}^k \\ \Longleftrightarrow \mu (H_1 \times \cdots \times H_k) &= \mu_1 (H_1) \cdots \mu_k (H_k), &\forall H_1, \ldots, H_k \in \mathcal{R}. \end{aligned}

Therefore, conditions (1) and (2) are equivalent.

Since the intervals (−∞,xi](-\infty, x_i] forms a π\pi-system generating R\mathcal{R}, [Xi≤xi][X_i \le x_i] forms a π\pi-system generating σ(Xi)\sigma(X_i), conditions (2) and (3) are equivalent.

□\square

Theorem. Suppose that μi\mu_i has density fif_i. If the XiX_i are independent, then μ\mu has density

f(x)=f1(x1)⋯fk(xk). f(x) = f_1(x_1) \dotsb f_k(x_k).

Proof. Since the density function are non-negative, via Fubini's theorem, for each H1,…,Hk∈RH_1, \ldots, H_k \in \mathcal{R},

Pr⁡[X1∈H1]⋯Pr⁡[Xk∈Hk]=∫H1f1 dμ1⋯∫Hkfk dμk=∫H1×⋯×Hkf1⋯fk dμ=Pr⁡[X∈H1×⋯×Hk]. \begin{aligned} \Pr[X_1 \in H_1] \cdots \Pr[X_k \in H_k] &= \int_{H_1} f_1 \, d\mu_1 \cdots \int_{H_k} f_k \, d\mu_k \\ &= \int_{H_1 \times \dots \times H_k} f_1 \cdots f_k \, d\mu \\ &= \Pr[ X \in H_1 \times \dots \times H_k ]. \end{aligned}

It follows by π−λ\pi-\lambda theorem, for each H∈RkH \in \mathcal{R}^k, we have

∫Hf1⋯fk dμ=Pr⁡[X∈H]. \int_{H} f_1 \cdots f_k \, d\mu = \Pr[ X \in H ].

□\square

Theorem. Let

X1,1,X1,2,…X2,1,X2,2,………… \begin{matrix} X_{1, 1}, &X_{1, 2}, &\ldots \\ X_{2, 1}, &X_{2, 2}, &\ldots \\ \ldots &\ldots &\ldots \end{matrix}

be a (possibly countably infinite) sequence of independent random variables. The σ\sigma-fields Fn≐σ(Xn,1,Xn,2,…)\mathcal{F}_n \doteq \sigma(X_{n, 1}, X_{n, 2}, \ldots ), n∈N+n \in \mathbb{N}^+ are independent.

Proof. For each n∈N+n \in \mathbb{N}^+, define the class

An≐{Xn,i1−1(Hi1)∩…∩Xn,ik−1(Hik):1≤i1<i2<…<ikHi1,…,Hik∈R}, \mathcal{A}_n \doteq \left\{ X_{n, i_1}^{-1} (H_{i_1}) \cap \ldots \cap X_{n, i_k}^{-1} (H_{i_k}) : \begin{matrix} 1 \le i_1 < i_2 < \ldots < i_k \\ H_{i_1}, \ldots, H_{i_k} \in \mathcal{R} \end{matrix} \right\},

which is the finite intersections of the sets Xn,k−1(H),k∈N+,H∈RX_{n, k}^{-1} (H), k \in \mathbb{N}^+, H \in \mathcal{R}. It is easy to see that ∅∈An\emptyset \in \mathcal{A}_n, and An\mathcal{A}_n is a π\pi-system. Further,

  • An\mathcal{A}_n generates Fn\mathcal{F}_n, i.e., σ(An)=Fn\sigma(\mathcal{A}_n) = \mathcal{F}_n:

    • σ(An)⊆Fn\sigma(\mathcal{A}_n) \subseteq \mathcal{F}_n: via definition of Fn\mathcal{F}_n, Xn,k−1(H)∈FnX_{n, k}^{-1} (H) \in \mathcal{F}_n, for each k∈N+,H∈Rk \in \mathbb{N}^+, H \in \mathcal{R}. Hence, each element in An\mathcal{A}_n belongs to Fn\mathcal{F}_n, and σ(An)⊆Fn\sigma(\mathcal{A}_n) \subseteq \mathcal{F}_n.

    • σ(An)⊇Fn\sigma(\mathcal{A}_n) \supseteq \mathcal{F}_n: via definition of An\mathcal{A}_n, Xn,k−1(H)∈AnX_{n, k}^{-1} (H) \in \mathcal{A}_n, for each k∈N+,H∈Rk \in \mathbb{N}^+, H \in \mathcal{R}. Hence, each Xn,kX_{n, k} is measurable σ(An)\sigma(\mathcal{A}_n). Via definition of Fn\mathcal{F}_n, σ(An)⊇Fn\sigma(\mathcal{A}_n) \supseteq \mathcal{F}_n.

  • The An\mathcal{A}_n are independent: let n1,…,nmn_1, \ldots, n_m be a finite sequence of indexes in N+\mathbb{N}^+. Suppose that for each j∈[m]j \in [m],

    Bnj≐Xnj,i1(j)−1(Hi1(j))∩…∩Xnj,ik(j)−1(Hik(j)). B_{n_j} \doteq X_{n_j, i_1(j)}^{-1} (H_{i_1(j)}) \cap \ldots \cap X_{n_j, i_k(j)}^{-1} (H_{i_{k}(j)}).

    Then

    Pr⁡[Bn1∩…∩Bnm]=Pr⁡[∩j∈[m](Xnj,i1(j)−1(Hi1(j))∩…∩Xnj,ik(j)−1(Hik(j)))]=∏j∈[m]Pr⁡[Xnj,i1(j)∈Hi1(j)]⋯Pr⁡[Xnj,ik(j)∈Hik(j)]=∏j∈[m]Pr⁡[Bnj]. \begin{aligned} \Pr[ B_{n_1} \cap \ldots \cap B_{n_m} ] &= \Pr\left[ \cap_{j \in [m]} \left( X_{n_j, i_1(j)}^{-1} (H_{i_1(j)}) \cap \ldots \cap X_{n_j, i_k(j)}^{-1} (H_{i_{k}(j)}) \right) \right] \\ &= \prod_{j \in [m]} \Pr[ X_{n_j, i_1(j)} \in H_{i_1(j)}] \cdots \Pr[X_{n_j, i_k(j)} \in H_{i_{k}(j)} ] \\ &= \prod_{j \in [m]} \Pr[B_{n_j}]. \end{aligned}

It follows that the Fn\mathcal{F}_n are independent.

□\square

Expectation

Theorem. If XX ane YY are independent and integrable, then

E[XY]=E[X]E[Y]. \mathbb{E}[ X Y ] = \mathbb{E}[ X ] \mathbb{E}[ Y ].

Proof. The claim holds trivially if XX and YY are simple random variables.

We treat the general case. There exists simple random variables XnX_n and YnY_n such that

  1. Xn→X,∣Xn∣↑∣X∣X_n \rightarrow X, |X_n| \uparrow |X| and Yn→Y,∣Yn∣↑∣Y∣Y_n \rightarrow Y, |Y_n| \uparrow |Y|;

  2. The XnX_n are measurable σ(X)\sigma(X) and the YnY_n are measurable σ(Y)\sigma(Y).

It follows that the XnX_n and YnY_n are independent for each n∈N+n \in \mathbb{N}^+. Now E[∣Xn∣⋅∣Yn∣]=E[∣Xn∣]E[∣Yn∣]\mathbb{E}[ |X_n| \cdot |Y_n| ] = \mathbb{E}[ |X_n| ] \mathbb{E}[ |Y_n| ]. Via monotone convergence theorem,

E[∣X∣⋅∣Y∣]=lim⁡nE[∣Xn∣⋅∣Yn∣]=lim⁡nE[∣Xn∣]E[∣Yn∣]=E[∣X∣]E[∣Y∣]≤∞. \begin{aligned} \mathbb{E}[ |X| \cdot |Y| ] &= \lim_n \mathbb{E}[ |X_n| \cdot |Y_n| ] \\ &= \lim_n \mathbb{E}[ |X_n| ] \mathbb{E}[ |Y_n| ] \\ &= \mathbb{E}[ |X| ] \mathbb{E}[ |Y| ] \\ &\le \infty. \end{aligned}

Therefore, E[∣XY∣]=E[∣X∣⋅∣Y∣]\mathbb{E}[ |XY| ] = \mathbb{E}[ |X| \cdot |Y| ] is integrable. Via monotone convergence theorem again, we have

lim⁡nE[inf⁡k≥n(2∣XY∣−∣XkYk−XY∣)]=E[lim⁡ninf⁡k≥n(2∣XY∣−∣XkYk−XY∣)]. \begin{aligned} \lim_n \mathbb{E} \left[ \inf_{k \ge n} \left( 2 |X Y| - |X_k Y_k - X Y| \right)\right] &= \mathbb{E} \left[ \lim_n \inf_{k \ge n} \left( 2 |X Y| - |X_k Y_k - X Y| \right)\right]. \end{aligned}

Therefore,

2E[∣XY∣]−lim⁡nE[sup⁡k≥n∣XkYk−XY∣]=2E[∣XY∣]−E[lim⁡ninf⁡k≥n∣XkYk−XY∣] 2 \mathbb{E}[ |X Y| ] - \lim_n \mathbb{E} \left[ \sup_{k \ge n} |X_k Y_k - X Y| \right] = 2 \mathbb{E}[ |X Y| ] - \mathbb{E} \left[ \lim_n \inf_{k \ge n} |X_k Y_k - X Y| \right]

Noting that ∣XY∣|XY| is integrable and that XkYk→XYX_k Y_k \rightarrow X Y, we have

lim⁡nE[sup⁡k≥n∣XkYk−XY∣]=0, \lim_n \mathbb{E} \left[ \sup_{k \ge n} |X_k Y_k - X Y| \right] = 0,

and

lim⁡n∣E[XnYn]−E[XY]∣≤lim⁡nE[∣XnYn−XY∣]≤lim⁡nE[sup⁡k≥n∣XkYk−XY∣]=0, \begin{aligned} \lim_n |\mathbb{E}[ X_n Y_n] - \mathbb{E}[X Y]| &\le \lim_n \mathbb{E} \left[ |X_n Y_n - X Y| \right] \\ &\le \lim_n \mathbb{E} \left[ \sup_{k \ge n} |X_k Y_k - X Y| \right] \\ &= 0, \end{aligned}

which proves that E[XY]=E[XnYn]=E[Xn]E[Yn]\mathbb{E}[X Y] = \mathbb{E}[ X_n Y_n] = \mathbb{E}[X_n] \mathbb{E}[ Y_n ].

□\square

Reference

[1] P. Billingsley, Probability and measure, 3rd ed. New York: Wiley, 1995.