Derivation of the Variance of the l-step Ahead Forecast Error for an AR(1) Model
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Analytical Intuition.
Institutional Warning.
A common pitfall is forgetting that forecast errors only accumulate unobserved future innovations, \ \\epsilon_{t+k} \. Students sometimes mistakenly include past innovations or assume a constant variance regardless of \ l \, overlooking the geometric series accumulation.
Academic Inquiries.
Why is \ |\\phi| < 1 \ important for this derivation?
The condition \ |\\phi| < 1 \ ensures the AR(1) process is stationary, meaning its statistical properties (like mean and variance) are constant over time. This is crucial for the forecast error variance to be well-defined and for the geometric series sum to converge, especially when considering the limit as \ l \\to \\\\infty \.
How does the forecast error's variance behave as \ l \ gets very large?
As \ l \\to \\\\infty \, the term \ \\phi^{2l} \ approaches zero (since \ |\\phi| < 1 \). Thus, \ Var(e_{t+l|t}) \ approaches \ \\frac{\\\\sigma^2}{1 - \\phi^2} \. This limit is precisely the unconditional variance of the stationary AR(1) process, meaning that for very long horizons, our forecast is essentially predicting the long-run mean, and the error variance reflects the total inherent variability of the process.
What happens if \ l=0 \? Is the formula still valid?
The formula is typically derived for \ l \\ge 1 \. If we formally substitute \ l=0 \, we get \ Var(e_{t|t}) = \\sigma^2 \\frac{1 - \\phi^0}{1 - \\phi^2} = \\sigma^2 \\frac{1-1}{1-\\phi^2} = 0 \. This makes sense: the 0-step ahead forecast error, \ Y_t - \\hat{Y}_{t|t} \, is 0 because \ Y_t \ is known at time \ t \, so its variance is indeed 0.
Why is it important to use \ \\hat{Y}_{t+l|t} = \\phi^l Y_t \ in the derivation?
This expression represents the optimal (minimum mean squared error) l-step ahead forecast for an AR(1) process given information up to time \ t \. Its use ensures that the forecast error \ e_{t+l|t} \ consists *only* of future, unpredictable white noise terms, simplifying the variance calculation considerably due to the uncorrelated nature of white noise.
Standardized References.
- Definitive Institutional SourceShumway, R.H. & Stoffer, D.S. (2017). Time Series Analysis and Its Applications: With R Examples (4th ed.). Springer.
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Institutional Citation
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NICEFA Visual Mathematics. (2026). Derivation of the Variance of the l-step Ahead Forecast Error for an AR(1) Model: Visual Proof & Intuition. Retrieved from https://nicefa.org/library/time-series-analysis/derivation-of-the-variance-of-the-l-step-ahead-forecast-error-for-an-ar-1--model
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