Derivation of the Variance of the l-step Ahead Forecast Error for an AR(1) Model

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The Formal Theorem

Let \ Y_t \ be an Autoregressive process of order 1 (AR(1)) defined by \ Y_t = \\phi Y_{t-1} + \\epsilon_t \, where \ |\\phi| < 1 \ ensures stationarity, and \ \\{\\\\epsilon_t\\}\ is a white noise process with \ E[\\epsilon_t] = 0 \ and \ Var(\\epsilon_t) = \\sigma^2 \. Let \ \\hat{Y}_{t+l|t} \ denote the optimal l-step ahead forecast of \ Y_{t+l} \ given observations up to time \ t \, and let \ e_{t+l|t} = Y_{t+l} - \\hat{Y}_{t+l|t} \ be the corresponding l-step ahead forecast error. Then the variance of this forecast error for \ l \\ge 1 \ is given by: \
\begin{aligned} Var(e_{t+l|t}) = \\sigma^2 \\frac{1 - \\phi^{2l}}{1 - \\phi^2} \\end{aligned}

Analytical Intuition.

Imagine trying to predict the future trajectory of a single, slightly erratic satellite, \ Y_t \. Its movement is mostly dictated by its previous position (the \ \\phi Y_{t-1} \ term), but also perturbed by random, unpredictable gusts of solar wind (the white noise \ \\epsilon_t \). When we forecast \ l \ steps ahead, \ \\hat{Y}_{t+l|t} \, we're essentially projecting its current trajectory into the future, assuming no new random gusts. The forecast error, \ e_{t+l|t} \, is the cumulative effect of those unforeseen gusts occurring *after* our forecast was made. Each gust \ \\epsilon_{t+1}, \\dots, \\epsilon_{t+l} \ contributes to the error, but its impact diminishes with time, scaled by powers of \ \\phi \. The variance calculation is like quantifying the total 'spread' or uncertainty introduced by these future, unobservable disturbances. As \ l \ increases, more future \ \\epsilon \ terms contribute, causing the variance to grow, eventually stabilizing at the unconditional variance of the process, reflecting maximum uncertainty about the distant future.
CAUTION

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.

01

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 \.

02

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.

03

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.

04

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.

Institutional Citation

Reference this proof in your academic research or publications.

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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