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N 4718
Fevrier 2003
ISSN 0249-6399
ISRN INRIA/RR--4718--FR+ENG
THME 4
apport
de recherche
Abstract:
that I gave in the working group of the research team Math in October 2001. These notes
contain three topics:
1. An elementary presentation of Malliavin's dierential operators and of the integration
by parts formula which represents the central tool in this theory.
2. The Wiener chaos decomposition and the dierential operators of Malliavin calculus
as operators on the Wiener space.
3. The application of this calculus to the study of the density of the law of a diusion
process. This was the initial application of Malliavin's calculus - and provides a probabilistic proof of Hormander's hypothesis.
The aim of these notes is to emphasis some basic ideas and technics related to this
theory and not to provide a text book. The book of Nualart, for example, is an excellent
nomography on this topic. So we live out some technical points (we send to the papers or
books where complete proofs may be found) and do not treat problems in all generality or
under the more general assumptions. We hope that this choice provides a soft presentation
of the subject which permits to understand better the objects and the ideas coming on as
well as the possible applications.
Key-words:
Hormander's theorem.
suite de quatre xposs que j'ai fait dans le cadre du groupe de travail de l'quipe Math
en octobre 2001. Ils contient trois sujets:
1. Une prsentation lmentaire des oprateurs direntiels du calcul de Malliavin et de
la formule d'intgration par partie qui est l'instrument central de cette thorie.
2. La dcomposition en chaos de Wiener et la prsentation des oprateurs direntiels
sur cet espace.
3. L'application du Calcul de Malliavin l'tude de la densit de la loi d'une diusion.
C'est l'application initiale de cette thorie qui a donn une dmonstration probabiliste
du thorme de Hormander.
Le but de ces notes n'est pas de donner une prsentation complte de la thorie mais
juste de mettre en vidence les objets pricipaux et les ide et techniques employs. Il y a dja
d'excellentes monograes sur le sujet, comme celle de Nualart par xemple. On a donc laiss
de ct certains points trs techniques et on n'a pas forcement donn les resultats sous les
hypothses les plus gnrales. On espre que ceci a permit de donner une prsentation allge
qui permet de mieux comprendre les objets et les ides ansi que les possibles applications.
Mots-cls :
1 Introduction
Malliavin calculus was conceived in the years
700s
800s
and
900s
a huge
amount of work has been done in this eld. It becomes an analysis on the Wiener space
and several monographs on this subject are available nowadays: Nualart [15], Oksendal
[16], Ikeda Watanabe [10]. The main application of Malliavin calculus was to give sucient
conditions in order that the law of a random variable has a smooth density with respect
to Lebegue's measure and to give bounds for this density and its derivatives. In his initial
papers Malliavin used the absolute continuity criterion in order to prove that under Hormander's condition the law of a diusion process has a smooth density and in this way he
gave a probabilistic proof of Hormander's theorem.
in various situations related with Stochastic
P DE 0 s and so on.
calculus found new applications in probabilistic numerical methods, essentially in the eld of
mathematical nance. These applications are quit dierent from the previous ones because
the integration by parts formula in Malliavin calculus is employed in order to produce some
explicit weights which come on in non linear algorithms.
At list considered from the point of view of people working in concrete applied mathematics, Malliaivn calculus appears as a rather sophisticated and technical theory which
requires an important investments, and this may be discouraging.. The aim of these notes
is to give an elementary introduction to this topic. Since the priority is to the easy access
we allow ourself to be rather informal on some points, to avoid too technical proofs, to live
out some developments of the theory which are too heavy and, at list for the moment, are
not directly used in applications. We try to set up a minimal text which gives an idea about
the basic objects and issues in Malliaivn calculus in order to help the reader to understand
the new literature concerning applications on one hand and to accede to much more complete texts (as the monographs quoted above) on the other hand. The paper is organized as
follows. In Section 1 we give an abstract integration by parts formula and investigate it's
consequences for the study of the density of the law of a random variable, computation of
conditional expectations and sensitivity with respect to a parameter. These are essentially
standard distribution theory reasonings in a probabilistic frame.
In Section 2 we present
Malliavin's calculus itself. We start with simple functionals which are random variables of
the form
n 1
)
where
i
in = B ( i2+1
n ) B ( 2n ) and f
is a smooth function. So
B and this is
coherent with probabilistic numerical methods - think for instance to the Euler scheme for
a diusion process. It turns out that at the level of simple functionals Malliavin's dieren-
n
R2 : The spacial fact which
+1 : This permits to
2
i
= n+1 + 2ni+1
n+1
in
and Malliavin's derivative operators, which are dened on the nite dimensional spaces, are
independent of the dimension. This allows to extend these operators (using
L2
norms) on
innite dimensional spaces. A key part in the extension procedure is played by the duality
between the Malliavin derivative
RR n 4718
Bally
guaranties that the two operators are closable. Next we discuss the relation between the
dierential operators and the chaos expansion on the Wiener space. It turns out that they
have a very nice and explicit expression on the Weiner chaoses and this permits to precise
their domains in terms of the speed of convergence of the chaos expansion series.. Finally we
prove Malliavin's integration by parts formula and give the coresponding absolute continuity
criterion. In Section 3 we give the applications of Malliavin calculus to diusion process.
distribution theory but we present them in a probabilistic language which is appropriate for
our aims. For simplicity reasons we present rst the one dimensional case and then we give
the extension to the multi-dimensional frame.
Let
(
; F; P )
F; G :
! R be
IP (F ; G) holds
H (F ; G) such that
0
IP (F ; G) E ( (F )G) = E ((F )H (F ; G)); :8 2 Cc1 (R)
(1)
Cc1 (R) is the space of innitely dierentiable functions with compact support.
Moreover, we say that the integration by parts formula IPk (F ; G) holds true if there
exists an integrable random variable Hk (F ; G) such that
where
(k)
IPk (F ; G) E ( (F )G) = E ((F )Hk (F ; G)); :8 2 Cc1 (R)
(2)
Malliavin's calculus gives a systhematic access to the computation of this weight. Typically
in applications
H (F ; G )
appears as an
INRIA
F:
also related to some stochastic equations and so one may use some approximations of these
equations in order to produce concrete algorithms.
E (f 0 ()g()) = E (f ()(g()
0
so IP (F ; G) holds true with H (F ; G) = g ()
g ():
g0 ()))
(3)
The proof is a direct application of the standard integration by parts, but in the presence
2
p(x) = p21 exp( 2x ) :
Z
Z
E (f 0 ()g()) =
f 0 (x)g(x)p(x)dx =
f (x)(g0 (x)p(x) + g(x)p0 (x))dx
Z
p0 (x)
=
f (x)(g0 (x) + g(x)
)p(x)dx = E (f ()(g()
g0()))
p(x)
Malliavin calculus produces the weights H (F ; G) for a large class of random variables -
(3) represents the simplest example of this quind - but this is not the subject of this section.
Here we give some consequences of the above property.
Lemma 1
Suppose that
satises
IP (F ; 1):
is absolutely continuous
with respect to the Lebesgue measure and the density of the law is given by
Proof.
The formal
IP (F ; 1) in order to obtain
E (0 (F x)) = E (@y 1[0;1)(F
x)) = E (1[0;1) (F
(4)
one employes
In order to let this reasoning rigorous one has to regularize the Dirac function. So we take
R
2 Cc1 (R) with the support equal to [ 1; 1] and such that (y)dy = 1
1 (y 1 ): Moreover we dene to be the primitive
and for each > 0 we dene (y ) =
Ry
of given by (y ) =
(
z
)
dz
and we construct some random variables of law
1
(y)dy and which are independent of F . For each f 2 Cc1 (R) we have
E (f (F )) = lim Ef (F )):
(5)
!0
a positive function
We compute now
Ef (F
)) =
=
=
RR n 4718
Z Z
Z
Z
Z Z
f (z )E (0 (F
f (z )E ( (F
z ))dz =
f (z )E ( (F
z )H (F ; 1))dz:
f (z ) (u z )dzdP F 1 (u)
z ))dz
Bally
F is absolutely continuous
(y) ! 1[x;1)(y) except for
The above relation togather with (5) guarantees that the law of
with respect to the Lebesgue measure.
convergence theorem we pass to the limit in the above relation and we obtain
E (f (F )) =
p:
f (z )E (1[z;1) (F )H (F ; 1))dz:
The above integral representation theorem gives some more information on the density
} Regularity. Using Lebesgue's dominated convergence theorem one may easily check
x ! p(x) = E (1[x;1)(F )H (F ; 1)) is a continuous function. We shall see in the sequel
that
that, if one has some more integration by parts formulas then one may prove that the density
is dierentiable.
ity
p(x) P (F x) kH (F ; 1)k2 :
In particular limx!1 p(x) = 0 and the convergence rate is controlled by the tails of the law
C
of F: For example if F has nite moments of order p this gives p(x) p=2 : In signicant
x
examples, as diusion processes, the tails have even exponential rate. So the problem of the
upper bounds for the density is rather simple (at the contrary, the problem of lower bounds
is much more challenging). The above formula gives a control for
similar bounds for
x!
x ! 1: In order to obtain
(y) =
R1
(6)
(z )dz:
We go now further and treat the problem of the derivatives of the density function.
Lemma 2
Suppose that
p is k times
dierentiable and
Proof.
Let
(7)
R
i = 1: We dene (x) = x1 (y)dy; so that 00 = ; and we come back
to the proof of lemma 1. We use twice the integration by parts formula and obtain
E ( (F
Since
z )) = E ( (F
lim!0 (F
z ) = (F
E (f (F )) =
z )H (F ; 1)) = E ( (F
z )+
z )H (F ; H (F ; 1))):
we obtain
f (z )E ((F
z )+ H (F ; H (F ; 1)))dz
and so
INRIA
p(z ) = E ((F
z )+ H (F ; H (F ; 1))):
The pleasant point in this new integral representation of the density is that
z ! (F z )+
and the
one
p(z ) = E (i (F
where
i
is an
z )+Hi+1 (F ))
} Watanabe develops in [20] (see also [10]) a distribution theory on the Wiener space
related to Malliavin calculus. One of the central ideas in this theory is the so called procedure
of pushing back Schwartz distributions which essentially coincides with the trick used in
our proof: one employes a certain number of integration by parts in order to regularize the
distributions, which coresponds in our proof to the representation by means of the function
i
which is
i times dierentiable.
} The integral representation formula (7) permits to obtain upper bounds of the deriva-
} The above lemma shows that there is an intimate relation (quasi equivalence) between
the integration by parts formula and the existence of a good density of the law of
fact, suppose that
every
2 Cc1 (R)
E (f 0 (F )) =
=
F
Z
f 0 (x)p(x)dx =
f (x)p0 (x)dx =
p0 (F )
1
(F )):
E (f (F )
p(F ) (p>0)
p0 (F ) 1
p(F ) (p>0) (F )
f (x)
F:
In
Then, for
p0 (x)
1
(x)p(x)dx
p(x) (p>0)
p0 (F ) 2 L1 (
)):
Iterating this we obtain the following chain of implications: IP (F; Hk+1 (F )) holds true ) p
(k) (F ) 2 L1 (
) ) IP (F; H
is k times dierentiable and p
k 1 (F )) holds true. Moreover one
(k)
p
(
F
)
k
1
has Hk (F ) = ( 1)
p(F ) 1(p>0) (F ) 2 L :
So
IP (F; 1)
RR n 4718
holds with
H (F ; 1) =
2 L1
(because
Bally
Conditional expectations
Lemma 3
Let
and
true. Then
E (G j F = x) =
E (1[x;1)(F )H (F ; G))
E (1[x;1)(F )H (F ; 1))
(8)
with the convention that the term in the right hand side is null when the denominator is
null.
Proof.
Let
(x)
designees the term in the right hand side of the above equality. We
= E (f (F )(F )):
Using the
E (f (F )G) = E (G lim
!0
Z
= lim
!0
Z
=
f (z ) (F
f (z )E ( (F
z )dz ) = lim
!0
f (z )E (G (F
z )H (F ; G))dz =
z ))dz
f (z )E (1[0;1)(F
z )H (F ; G))dz
In many applications one considers quantities of the form
Xtx(!)
! F x(!)
is dierentiable also.
Then
is not dierentiable.
The second approach overcomes this diculty using the smoothness of the density of the
law of
F x:
@xE ((F x ))
Abad [19]). But of course this approach works when one knows the density of the law of
F x:
IP (F x ; @x F x )
INRIA
lus is a machinery which permits to compute such quantities for a large class of random
variables for which the density of the law is not known explicitly (for example diusion
process). This is the approach in
sitivity of the price of European and American options with respect to certain parameters)
in mathematical nance problems.
one dimensional random variable considered in the previous section. The results concerning
the density of the law and the conditional expectation are quite analogous.. Let us introduce
some notation.
For a multi-index
(9)
Let us give a simple example which turns out to be central in Malliavin calculus. Take
F = f (1 ; :::; m ) and G = g(1 ; :::; m ) where f; g are some dierentiable functions and
1 ; :::; m are independent, centered gaussian random variables with variances 1 ; :::; m :
1
m
We denote = ( ; :::; ): Then for each i = 1; :::; m
@f
i @g
E ( i ()g()) = E (f ()(g() i
()))
(10)
@x
@xi
1
m
This is an immediate consequence of (3) and of the independence of ; :::; : We give
now the result concerning the density of the law of F:
Proposition 1
where
i) Suppose that
Qd
I (x) = i=1
Then
[xi ; 1).
p(x)dx with
(11)
Then
D p exists and
is
given by
RR n 4718
Bally
10
Proof.
tion by parts formula. In order to let it rigorous one has to regularize the Dirac function as
in the proof of Lemma 1. In order to prove ii) one employes the same pushing back Scwartz
distribution argument as in the proof of Lemma 2. Finally, in order to obtain bounds we
write
Proposition 2
Let F and G be
IP(1;:::;1)(F ; G) hold true. Then
E (G j F = x) =
IP(1;:::;1)(F ; 1)
and
(13)
with the convention that the term in the right hand side is null when the denominator is
null.
Proof.
The proof is the same as for Lemma 3 but one has to use the
regularization function
Q
Q
(x) = di=1 (xi ) and (x) = di=1 (xi ) and the fact that
3 Malliavin Calculus
3.1 The dierential and the integral operators in Malliavin's Calculus
(
; F; P ) be a probability space, B = (Bt )t0 a d dimensional Brownian motion and
(Ft )t0 the ltration generated by B; that is: Ft is the completation of (Bs ; s t) with
the P null sets. The fact that we work with the ltration generated by the Brownian
Let
motion and not with some abstract ltration is central: all the objects involved in Malliavin
calculus are 'functionals' of the Brownian motion and so we work in the universe generated
by
B: The rst step will be to consider 'simple functionals', i:e: smooth functions of a nite
The cleaver
thing is that the operators in this calculus does not depend on the dimension (the number
of increments involved in the simple functional) and so they admit an innite dimensional
extension.. Another important point is that an integration by parts formula holds true. On
one hand this formula permits to prove that the operators dened on simple functionals are
INRIA
11
closable - which is necessary in order to get an extension. On the other hand the integration
by parts formula itself extends to general functional and this represents one of the main tools
in Malliavin calculus (the previous section gives sucient motivation for such a formula).
and
We put
Ink = [tkn ; tkn+1 ): Note that Ink = In2k+1 [ In2k+1+1 : This simple fact is important in
order to dene operators which does not depend on the dimension of the space on which
we work.
kn =
i
= B (tkn+1 )
Moreover we denote
1
k;d
(k;
n ; :::; n )
with
k;i
n
1
F = f (0n ; :::; m
n )
(14)
Proposition 3
For every
p > 0; S
is a linear subspace of
Lp (
; F1 ; P ) and it is dense.
als (for example polynomials or smooth functions with compact support) but has to take
care that the density property holds true. The fact that the ltration is generated by the
Brownian motion is the reason for which we have the density property.
if F 2 Sn and F =
m = m0 : So we may denote by fn the
unique function which represents F as a simple functional of order n: On the other hand
0
if F 2 Sn then F 2 Sn0 for every n > n and the representation functions fn and fn0 are
The representation (14) has the following uniqueness property:
0 1
)
1
0
m
f (0n ; :::; m
n ) = g (n ; :::; n
then
f =g
and
sn+1
fn+1 (x)
0
1
2
i
2
i
+1
2
m
2
(x ; x ; :::; x ; x ; :::; x
; x2m 1 )
(15)
2 + x2m 1 )
Sn and
n and so to obtain an operator on S .
The above property will permit to dene the dierential operators on the space
then to check that this denition does not depend on
Moreover, since
is dense in
L2 (
; F1 ; P ) we may dene the extension of the dierential
time horizonte, but, if we want to construct Malliavin calculus in nite time horizonte, say
t 2 [0; 1]; then for each xed n one has to take m = 2n which is the number of intervals Ink
which cover the whole time interval [0; 1]: Let us consider for a moment this simpler situation.
0
2n 1 ): Let us denote
Then a simple functional of order n is of the form F = f (n ; :::; n
n
1
1
2
Cn = Cp (R ; R); the space of innitely dierentiable functions which has polynomial
1
growth. Then the uniqueness of the representation give a bijection in : Cn ! Sn : On the
RR n 4718
Bally
12
jn : Cn1 ! Cn1+1
given by jn (f ) = f sn and the corresponding embedding qn : Sn ! Sn+1 : So we have the
other hand, by means of the functions
sn
S1
C11
n2N
u(t; !) =
m
X1
i=0
Sn
(16)
n2N
Cn1 :
1
uk (0n ; :::; m
n )1Ink (t)
(17)
Proposition 4 P
is a dense subspace of
R+
and
Lp ([0; 1)
; B+ F1 ; P ) where B+
is are
n
un2k+1 (x) = un2k+1
+1 (x) = uk (sn+1 (x)):
(18)
P1
C11
n2N
Pn
1 C1
1
:::Cn;n
n+1;n+1 ::: C1;1 =:
(19)
n2N
1:
Cn;n
INRIA
13
Di : S ! P; i = 1; :::; d by
m
X1
Dti F =
k=1
@fn 0
1
( ; :::; m
n )1Ink (t):
@xk;i n
(20)
We have
kn
intuitive notation
@F
@ it
i
i k+1 ) B i (tk ) = k;i for tk t < tk+1 :
where t = B (tn
n
n
n
n
i
We dene the Skorohod integral : P ! S; i = 1; :::; d by
Dti F =
i (u) =
m
X1
k=1
1
k;i
ukn(0n ; :::; m
n ))n
m
X1
k=1
@unk 0
1) 1 :
(n ; :::; m
n
k;i
@x
2n
n and so is correct.
n
0
k 1 only)
u
is a previsible process (i:e: uk depends on n ; :::; n
@unk = 0 and so i (u) coincides with the standard Ito integral with respect to B i .
@xk;i
i
i
A central fact is that the operators D and are adjoint:
(21)
Proposition 5
For every
F
E
then
2 S and u 2 P
Z
(22)
Proof.
We take
respectively
(10 )
Z 1
m
X1
k=0
1
@fn
( )uk ( )
@xk;i n n n 2n
= E (fn (n )(
RR n 4718
m
X1
k=0
m
X1
k=1
@unk
1
(n ) n )) = E (F i (u)):
k;i
@x
2
Bally
14
The above proposition gives the possibility to prove that
Proposition 6
i)
Di : S
L2 (
; F1 ; P ) ! P L2 ([0; 1)
; B+ F1 ; P ) is a
; B+ F1 ; P ) We dene Di F =: limn Di Fn :
ii) i : P L2 ([0; 1)
; B+ F1 ; P ) ! S L2 (
; F1 ; P ) is a linear closable operator. We dene Dom( i ) to be the subspace of all the measurable processes u 2 L2 ([0; 1)
L2 (
; F
Z 1
(23)
2
i
Let Fn 2 S; n 2 N such that Fn ! 0 in L (
; F1 ; P ) and such that D Fn ! u
2
i
in L ([0; 1)
; B+ F1 ; P ): In order to check that D is closable we have to prove
i
that u = 0: This guarantees that the denition of D does not depend on the approximation
Proof.
sequencle
Since
Z 1
is dense in
Z 1
L2 ([0; 1)
; B+ F1 ; P ) it follows that u = 0: The fact that
is closable is proved in the same way and (23) follows from (22) by approximation with
Remark 1
Note that
Dti F
whole path of the Brownian motion. Note also that this process is dened as an element of
L2 ([0; 1)
; B+ F1 ; P ) so Dti F
to delicate problems but usually one is able to precise a privileged (for example continuous)
version of it. In many situations of interest
equation and then
equation of
Di F
F: So the privileged
Remark 2
INRIA
Remark 3
If
u is a previsible
15
Bi.
simple functionals.
Remark 4
Most of the people working in Malliavin calculus use a slightly dierent denition
of the simple functionals and of the Malliavin derivative. A simple functional is a random
variable of the form
and
R
i
B i (hk;i ) = 01 hk;i
s dBs :
Dti F =
m
X
@f
1
m k;i
k;i (B (h ); :::; B (h ))h (t):
@x
k=1
(24)
i k;i
k;i
So the space of simple functionals is larger - note that k;i
n = B (h ) with h (t) =
1[tkn;tkn+1 ) (t): But it is easy to check (using approximations of hk;i with step functions) that
F = f (B (h1 ); :::; B (hm )) 2 Dom(Di ) (in the sense given here to Dom(Di )) and Dti F is
We
kn as the basic elements because the simple functionals appear as aggregates of
Brownian increments and this is the point of view in probabilistic numerical methods (think
for example to the Euler scheme).
We dene on
the norm
kF k21;2
and we dene
L2 (
; F
1 ; P ):
Remark 5
i=1
Then
D1;2 = Dom(D)
There is a strong analogy between the construction here and the standard Sobolev
t 2 [0; 1]
m = 2n at level n; and we also assume
that we have a single Brownian motion, that is
n
n
d = 1: Let n 2 N be xed and let D R2 be a bounded domain. For f 2 Cn1 = Cp1 (R2 ; R)
1 = Cp1 (R2n ; R2n ) and the Sobolev
(we use the notation from the previous section) Of 2 Cn;n
1
1
;
2
1
space H (D ) = W
(D
) is dened as the closure of Cn with respect to the norm kf kD;1;2 =
P2n
@f
kf kL2 (D ) + i=1
@xi
L2 ( ) where D (dx) = 1D (x)d(dx) with the Lebesgue measure.
D
1 (respectively Cn;n
1 ) is in bijection with Sn (respectively with
Recall now that in our frame Cn
2
Pn ) on which we consider the L norm with respect to the probability P (respectively with
respect to P ): If we transport these measures by means of the isomorphisms we obtain
spaces in nite dimension. Let us see this in more detail. We consider the case when
so that
the norm
RR n 4718
Bally
16
2n
X
@f
L2 (n ) +
@xi
kf kn;1;2 = kf k
i=1
1
n
L2 (n ) 2
n:
dimension and this extension is obtained by means of the embedding in (16) and (19). The
kn
2nk+1
dimensional dierential calculus and not just a collection of nite dimensional ones.
We introduce now higher order derivatives in a similar way.
D(t1 ;:::;tr ) F =
D
we denote
jj = r and we dene
For a multi-index
r
m
Y
X1
@rF
@rf
0 ; :::; m 1 )
(
1Inkj (tj )
=
n
@ t11 :::@ trr k1 ;:::;kr =0 @xkn1 ;1 :::@xknr ;r n
j =1
(25)
r time-parameters,
L2 ([0; 1)r
; B+
r F;
r P ): One proves in a similar
way that D is closable and denes its extension to Dom(D ):
We introduce the following norms on S :
r X Z 1 Z 1
p
X
p
p
kF kr;p = E jF j +
E
:::
(26)
D(t1 ;:::;tq ) F dt1 :::dtq
0
0
q=1 jj=q
r;p to be the closure of S with respect to kk : We dene
and we dene D
r;p
So
is an operator from
r;p
D1 = \1
r=1 \p1 D :
Finally we dene the so called Orenstein Ulemback operator
L(F ) =
d
X
i=1
i (Di F ):
(27)
L:S!S
by
(28)
INRIA
If
17
1
F = f (0n ; :::; m
n ) then we have
L(F ) =
d m
X
X1
i=1 k=0
@2f
1
(n ) n
k;i
2
@ (x )
2
d m
X
X1
i=1 k=0
@f
( )k;i :
@xk;i n n
(29)
2 Cp1 (Rk ; R)
and for each i = 1; :::; d
Proposition 7
D1;2
i) Let
and
Dti (F ) =
ii) Let
F; G 2 Dom(L) \ D1;4
F = (F 1 ; :::; F k )
with
Fi
k
X
@
i j
j (F )D F :
@x
j =1
be such that
F G 2 Dom(L): Then
(31)
(32)
and
d
X
d
X
@2
@
i ; DF j > +
i
(
F
)
<
DF
i @xj
i (F )LF :
@x
@x
i;j =1
i=1
The proof of these formulas follow from the standard properties of dierential calculus
in the case of simple functionals and then extends to general functionals by approximation
with simple functionals.
L1a;2 the space of the adapted square integrable processes u = u(t; !) such that
1;2 and there exists a measurable version of the double indexed
for each xed t; u(t; ! ) 2 D
2
R 1 R 1 Pd i
process Ds u(t; ! ) which is square integrable, that is E
i=1 Ds u(t; ! ) dsdt < 1:
0 0
We denote
Proposition 8
Let
u 2 L1a;2 : Then
Z 1
u(s; !)dBsj ) = u(t; !)ij +
Dti u(s; !)dBsj
0Z
t
Z 1
1
i
i
Dt (
u(s; !)ds) =
Dt u(s; !)ds
Z
Dti (
RR n 4718
(33)
Bally
18
with
ij
The proof is easy for simple functionals and extends by approximation for general functionals.
We close this section with the Clark-Ocone formula which gives an explicit expression of
the density in the martingale representation theorem in terms of Malliavin derivatives. This
is especially interesting in mathematical nance where this density represents the strategy.
Theorem 1
Let
2 D1;2 : Then
F = EF +
d Z
X
i=1 0
(34)
Proof.
take
parts formula and the isometry property for stochastic integrals and obtain:
EF c +
d Z
X
i=1 0
uis dBsi
d
X
= E (F
=
=
d
X
i=1
d
X
i=1
= E
i=1
E
E
0
Z
i (ui ))
1
1
0
d
XZ
Dsi F
uis ds =
d
X
i=1
E (Dsi F j Fs )dBsi
i=1 0
E (Dsi F
j Fs )dBsi
E (Dsi F j Fs ) uis ds
uis dBsi
c+
d Z
X
i=1 0
uis dBsi
The representation theorem for martingales guarantees that the random variables of the
R
P
c + di=1 01 uis dBsi
Fs )dBsi ; a:s:
form
are dense in
L2 (
)
and so we obtain
F =
Pd
R1
i=1 0
E (Dsi F
(1) and establish the corresponding absolute continuity criterion. Given a random vector
F = (F 1 ; :::; F n ) with F i
F = (
Fij )i;j=1;n by
2 D1;2 ; i
= 1; :::; n;
INRIA
d Z
X
r=1 0
19
(35)
In the gaussian case Malliavin's covariance matrix coincides with the classical covariance
Pd
law of a gaussian random variable is absolutely continuous with respect to the Lebesgue's
measure if and only if the covariance matrix is not degenerated. So it appears as natural to
consider the following non-degeneracy property:
Theorem 2
Let
E(
@
(F )G) = E ((F )H (i) (F ; G))
@xi
with
H (i) (F ; G) =
with
bF = F 1 :
n
X
j =1
F i 2 D1 ; i = 1; :::; n
(1 ; :::; m ) 2 f1; :::; dgm
Moreover, if
and
2 D1
(37)
(38)
=
(39)
RR n 4718
(40)
Bally
20
where
L to F i : So we have to
2 Dom(L): We will prove in the next section that Dom(L) = D2;2 and so the
Fi
Proof.
d X
n
X
d
X
r=1
n
X
@
@
ij
r F i ; Dr F j >=
(
F
)
<
D
i
i (F )
F
@x
@x
r=1 i=1
i=1
so that
n
X
@
(
F
)
=
< D(F ); DF j >
bFji :
@xi
j =1
Moreover, using (32)
E(
n
1X
@
(
F
)
G
)
=
E (G(L((F )F j ) (F )L(F j ) F j L((F ))
bFji )
@xi
2 j=1
n
1X
=
E ((F )(F j L(G
bFji ) G
bFji L(F j ) L(GF j
bFji ))
2 j=1
=
=
n
1X
E ((F )(F j L(G
bFji ) G
bFji L(F j ) L(GF j
bFji ))
2 j=1
n
X
j =1
As an immediate consequence of the above integration by parts formula and of Proposition 4 we obtain the following result.
Theorem 3
1 (dx)
Let
INRIA
21
using the integration by parts formula in concrete situations. We give here a general lemma
which reduces this problem to a simpler one.
Let
be a random n n dimensional matrix which is non negative dened and
(E
ij p )1=p Cp < 1; i; j = 1; :::; n. Suppose that for each p 2 N there exists
some "p > 0 and Kp < 1 such that for every 0 < " < "p one has
Lemma 4
such that
Then (
(41)
E jdet
j p 2n;np+2
(42)
p
p
where n;p =: (cn Kp+2n + 2 (n + 1) Cp ) with cn an universal constant which depends on the
dimension n:
Proof.
p > 2n
and consequently
"
1
P ( inf <
; >< ") P (i=1
inf <
i ; i >< ) + P (j
j
)
;N
jj=1
2
2(n + 1)"
"
N imax
P (<
i ; i >< ) + 2p (n + 1)p "p E j
jp
=1;N
2
cn Kp "p 2n + 2p (n + 1)p "p Cp
and so (43) is proved.
= inf jj=1 <
; > is the smaller proper value of the matrix
so that
p )1=p (E np )1=p : On the other hand we know
det
and consequently (E jdet
j
1
1 1 ) "p with =: (c K
from ( 43) that P (
n;p
n;p
n p+2n + 2p (n + 1)p Cp ): Taking "k = k
"
Step 2.
n
we obtain
RR n 4718
Bally
22
1
X
E np =
k=0
1
X
E ( np 1f 1 2[k;k+1) ) (k + 1)np P (
1
X
1
(k + 1)np n;np+2 np+2
k
k=0
k=0
k)
2n;np+2
We give a rst application of this lemma in a frame which roughly speaking corresponds
to the ellipticity assumption for diusion processes. Let
Assume that
F = (F 1 ; :::; F n ) with F i
2 D1;2 :
qli and rli are measurable stochastic processes which satisfy the following assumptions.
There exists a positive random variable a such that
where
d X
d
X
i)
l=1 i=1
Qij =
Pd
i j
l=1 ql ql :
(44)
Kp :
> 0 and some constants Cp
E sup rlij (s)
s"
Remark 6
a j j2 ds dP (!) a:s:
such that
Pd
(45)
Pd
i
i 2
i=1 ql (s; ! ) )
Lemma 5
Then
Q;
at list if
true.
Proof.
Le
l=1 (
E jdet F j p < 1; 8p 2 N;
and so
(HF )
holds
= 1 and let 2 Rn
<
F ; >=
Z "
(a
d Z t
X
l=1 0
d
X
jrl (s)j2 )ds (a
l=1
d
X
d Z "
X
l=1 0
INRIA
23
It follows that
d
X
P (a < 2"1
Kp (2"1
and the proof is completed.
) + P (
)p +
d
X
1
C "2p
p
(1
" ) 2p
= (Kp 2p + Cp )"p
works in a more sophisticated frame when the non degeneracy assumption is weaker then
ellipticity. But it seems dicult to describe such a non degeneracy condition in an abstract
frame - in the following section such a condition is given in the particular frame of diusion
the above decomposition is specic to diusion processes and it is not clear that there are
t:
in stochastic series (such ideas have
other interesting examples, we will now discuss the invertibility of matrixes of the form
The main tool in this analysis is the decomposition of
been developed in [2], [12],[1]).
dierent from the ones which appear in the chaos decomposition for several reasons. First of
all it does not contain just stochastic integrals but Lebesgues integrals as well. Moreover,
is not a deterministic function of
So the decomposition
t =
p()m=2
c I (1)(t)) +
p()=(m+1)=2
I (U )(t):
RR n 4718
Bally
24
Lemma 6
for every
i) Let
<
m2N
1
m+1
inf P (
jcj1
ii) Let
Z "
p()m=2
U = (U )p()=(m+1)=2
be such that
(47)
p
X
(E sup
I (U )(s)) )1=p
st p()=(m+1)=2
Kp t(m+1)=2 < 1:
Then,
(48)
p()m=2 c I (1)(s)
is not
degenerated. This property is analogues with (44). The proof is non trivial and we do not
give it here (see [12] Theorem
as
t ! 0 as
t(m+1)=2
and this will be used in order to control the remainder of the series.
ij (s) =
m
X
k=0
cij I (1)(s) +
p()=(m+1)=2
such that
I (Uij )(s)
and dene
X
X X
Qm (c) = inf
< c c ; >= inf
< cl ; >2 :
jj=1 p()m=2
jj=1 l=1 p()m=2
Rt
ij
0 (s s ) ds:
Proposition 9
1:
qsij
Proof
.
P
If
nn
dimensional matrix
t = ( tij )i;j=1;n
dened by
tij =
Qm(c) > 0 then for every t 0 the matrix t is invertible and E (det t ) p <
ij
p()m c I (1)(s)
and
rsij
ij
p()=(m+1)=2 I (U )(s)
so that
t =
Rt
0 (qs + rs )ds:
We employ now the same strategy as in the proof of lemma 20. We take
chosen latter on. For a unitary vector
we have
We denote
> 0 to
be
INRIA
< t ; >=
with
Z tX
d
1
2
Z " X
d
1
2
Z " X
d
0 l=1
25
Z " X
d
Z " X
d
l=1
l=1
l=1
Then
Z " X
d
Cp "p((m+2) 1); 8p 2 N:
1
> " ) = 0 for every k 2 N:
1
m+2
then
lim"!0 "
k P (sup jrs j2
s"
It follows that, if
Z "
min P (
l=1;d
R P
P
< qsl ; >2 ds = 0" ( p()m ni=1 cil i I (1)(s))2 ds: At list for one
P
P
l = 1; :::; d one has p()m ni=1 cil i 2 d1 Qm(c) > 0: Then, if < m1+1 ; (47) yields
R
lim"!0 " k inf jj=1 P ( 0" < qsl ; >2 ds < 4") = 0 for each k 2 N: So we take m1+2 < <
Note that
1
m+1
R "
point of the analysis on the Wiener space which has been developed in [15],[20],[10]... and
so on.
But, as it is clear from the previous section, one may also set up the Malliavin
calculus and use this calculus in concrete applications without even mentioning the chaos
decomposition. This is why we restric ouerself to a short insight to this topoic: we just give
the charactherisation of the domain of the dierential operators and a relative compactness
criterios on the Wiener space, but live out more involved topics as Meyer's inequalities and
the distribution theory on the Weiner space.
RR n 4718
Bally
26
In order to simplifying the notation we just consider an one dimensional Brownian motion
n 1
)):
The ideas are quit the same in the general frame. We denote
Z 1 Z t1
:::
Z tk
Ik (fk ) = k!
Z 1 Z t1
:::
Z tk
[0; 1]k
k to be the space
Hk
L2(
) =
1
M
k=0
Hk :
We give not the proof here - see [15] for example. The explicit expression of the above
decomposition is given in the following theorem.
Theorem 4
For every
2 L2 (
) there exists a unique sequence fk 2 L2s;k ; k 2 N such that
1
X
k=0
kF k2L (
) < 1 and
2
1
X
k=0
(49)
Ik (fk ):
INRIA
27
Let us now see which is the relation between multiple integrals and simple functionals.
fk;q = qi
on
n:
i
of the cube
i2nk
qi 1 in (t1 ; :::; tk )
Pq (x0 ; :::; x2
Note that
n 1
)
i2nk
qi xi :
Q
Q
(n )i = kj=1 inj = kj=1 (B (tinj +1 ) B (tinj )) appears as a gaussian measure
n
k
i . Of course one can not extend such a measure to all the Borel sets of [0; 1]
because the Brownian path has not nite variation, and this is why stochastic integrals come
in. Then
Pk;q (n )
fk;q
we have
Ik (fk;q ) = 2!
= 2
Since
fk;n
Z 1 Z s1
0 0
n 1 Z ti+1 i 1 Z tj+1
2X
n X
n
i=0 tin
j
j =0 tn
n 1 Z ti+1 Z s
2X
1
n
i=0
tin
0
n 1 Z ti+1 Z s
2X
1
n
i=0 tin
tin
Ik (fk;q ) = 2
n 1i 1
2X
X
i=0 j =0
Z tin+1 Z tjn+1
tin
tjn
the last equality being a consequence of the symmetry.. So (50) is proved. As a by product
we obtain the following result:
RR n 4718
Bally
28
Lemma 7
i) For every
fk
and
Proof.
nk ; n
(51)
so
theorem.
but this is a rather unpleasant computation. A more elegant way of doing it is to use the
Ds
Z 1 Z t1
In order to prove
Z s
Z s
Z 1
Z 1
Z 1
which implyes
:::
Ds
Z 1
Z t1
Z 1
Z 1
fk;q (t1 ; :::; tk )gk;q (t1 ; :::; tk )dtk :::dt1 = E (Ik (fk;q )Ik (gk;q ))
(for a general
fk
we have
>= 0 is k 6= p: square
L(kn ) = kn
and
INRIA
29
Clearly the above formulas hold true for nite sums of multiple integrals.
Then the
question is if we are able to pass to the limit and to extend the above formulas to general
series. The answer is given by the following theorem which give the characterizations of the
domains of the operators in Malliavin calculus in terms of Weiner chaos expansions.
Theorem 5
i)
Let
2 D1;2
fk 2 L2s;k ; k 2 N
2 L2(
).
if and only if
1
X
k=0
(52)
In this case
Ds F =
ii)
1
X
k=0
1
X
k=0
(53)
(54)
In this case
Ds(p1);:::;sp F =
(p)
2
D F
2
L ([0;1]p
)
iii)
1
X
(55)
(56)
k=0
1
X
k=0
1
X
k=0
(57)
LF =
k=1
kIk (fk ):
Fn !PF in L2 (
) and
n I (f ): The
DFn ! G in
then F 2
and DF = G: Take Fn =
k=0 k k
2
condition (52) says that the sequence (DFn )n2N ; is Cauchy in L ([0; 1]
) so guarantees
Proof.
RR n 4718
L2([0; 1]
)
Fn
D1;2
2 D1;2 ; n 2 N
(58)
and
Bally
30
that
be the subspace of
L2 (
)
2 D1;2
D1;2 :
converges to
then the kernels in the chaos decomposition converge and so, for
every
m2N
kk2
in
m
X
m
X
Fn ; n
2N
is Cauchy in
2 D1;2 is orthogonal to V
0 = E (F Pk;q (n )) + E
= E (F (Pk;q (n )
Z 1
F = 0:
L2 (
)
ii) is quait analogues except for the orthogonality argument which is has
p > 1 and let Vp be the subspace of L2(
) of the random variables for
p;2 which is a Hilbert
which (54) holds true. As above, Vp is a closed linear subspace of D
ii) The proof of
to be adapted. Let
< F; G >p =: E (F G) +
l=1
D(l) F
p
X
Dl F ;
INRIA
p
X
l=0
31
p
X
l=1
kl
iii). If
write
< gk ; fkL >L2 [0;1]k = E (Ik (gk )LF ) = E (LIk (gk )F ) = kE (Ik (gk )F ) = k < gk ; fk >L2 [0;1]k :
and the proof is completed.
Remark 7
P1
2
k=0 k ! kfk kL2 [0;1]k
fkL = kfk
is in
L2(
) if the series
of F depends on the
speed of convergence of this series and gives a precise description of this phenomenons. If
one looks to the multiple integrals
functions) then the fact that the series converges very fast means that the functional is closed
to the partial series and so to the smooth functionals. This also suggests to take the multiple
integrals as the basic objects (replacing the simple functionals in our approach), to dene
the operators in Malliavin calculus by means of (51) and then to extend these operators to
their natural domain given in the previous theorem. This is the approach in [16].
Remark 8
if
2 Dp;2 then
fp (s1 ; :::; sp ) =
1
E (Ds(p1);:::;sp F )
p!
(59)
fk :
Remark 9
group
Remark 10
that
D1;2 = Dom(C ):
C =
(so
C (Ik (fk )) =
semi-
Note
inequalities) are central in the analysis on the Weiner space and in the distribution theory
on the Weiner space due to Watanabe (see [20] and [10]) . For every
there are some constants
RR n 4718
cp;k
and
Cp;k
2 D1
Bally
32
cp;k E D(k) F
Theorem 6
Fn ; n
Let
Suppose that
2N
i) There is a constant
be a bounded sequence in
Z 1 h
jDt+h Fn Dt Fn j2 dt Ch:
(Fn )n2N
is relatively
Step 1. Let
2
1
X
E
Ik (fkn )
k=N
1
X
k=N
Fn =
P1
n
k=0 Ik (fk ):
k! kfknk2L2 [0;1]k
1
1 X
kk! kfkn k2L2 [0;1]k
N k=N
the sequence
2
compact in L (
) and this is equivalent to the relative
2
k
N; in L [0; 1] (one employes the isometry property).
Step 2. We will prove that for each
0
where
:::
Z 1 hk
1
sup E
N n
Z 1
Ik (fkn ); n 2 N
jDs Fn j2 ds:
is relatively
fkn ; n 2
h1 ; :::; hk > 0
jfkn(t1 + h1 ; ::::; tk + hk ) fkn (t1 ; :::; tk )j2 dt1 :::dtk C (h1 + ::: + hk )
(62)
n and on h1 ; :::; hk :
" > 0 one may nd > 0 such that
is a constant independent of
sup
where
(61)
[0;)[(1 ;1]
compact in L2 (
):
Z 1 h1
1):
(60)
jDt Fn j2 dt ":
Proof.
Then
(that is
h>0
sup E
D1;2
D = f(t1 ; :::; tk ) : ti
D
2 [0; ) [ (1 ; 1] for
some
(63)
INRIA
Since
Z 1
33
:::
Z 1
:::
Z 1
jfkn (t1 + h1 ; t2 ; ::::; tk ) fkn (t1 ; :::; tk )j2 dt1 :::dtk Ch1 :
t1 2 [0; 1]
Dt1 Fn j
Ch1
1
X
p=1
We do this for
two reasons. First of all in order to understand well which are the facts which permite to
pass from nite dimension to innite dimension. Moreover, this calculus was concieved in
the Gaussian frame and then extends to Poisson processes as well.
lows permits to pass from the nite dimenson to the innite dimension. But the operators
introduced in Malliavin calculus and the strategy used in order to obtain an integration by
parts formula remain interesting even in the nite dimensional case - the fact that these
operatros and formulas pass to the limit is some how a test which show that they are the
good objects. This is why there is some interest in following the same strategy in order to
obtain integration by parts formulas for a ruther large class of random variables which go
far beond Gaussian or Poisson. But we do no more expect these formulas to pass to the
limit in the general case.
In this section there are two objects which are given:
} An m
H = (H1 ; :::; Hm ):
We assume that the law of
has a density
pH
@ ln pH
1 @p
= h:
@xi
ph @xi
} A poisitve measure = (1 ; :::; m ) on f1; :::; mg:
i =
RR n 4718
Bally
34
of the measure
m
X
i=1
i Di F Ui
m
X
@f
@f
= E
i (H ) ui (H ) = i
(y) ui (y)pH (y)dy
@x
@x
i
i
i=1
i=1
Z
m
X
@ui
@pH
=
i f (y)
(y)pH (y) + ui (y)
(y) dy
@xi
@xi
i=1
=
=
f (y)
m
X
(U ) =:
U; V
m
X
@ ln pH
@ui
(y) + ui (y)
(y )
i
@xi
@xi
i=1
m
X
!
pH (y)dy
!
@ui
E (F
i
(H ) + ui (H )i (H )
@xi
i=1
with
For
m
X
) = E (F (U ))
@ui
(H ) + ui (H )i (H ) :
i
@xi
i=1
m
X
i=1
(Ui Vi ) i :
L( F ) =
m
X
i=1
i
2
@f
2 (H ) +
@xi
@f
(H )i (H )
@xi
L : Sm
! Sm
as
The standard rules of the dierential calculus give the following chain rule.
INRIA
35
F = (F 1 ; :::; F d) F 1 ; :::; F d
Proposition 10
tion. Then
Let
(F ) 2 Sm
and
i) Di (F ) =
@
j
j (F )Di F
@x
j =1
m
X
@2
@
j ; DF j > +
j
(
F
)
<
DF
i @xj
j (F )LF :
@x
@x
j =1
i;j =1
m
X
ii) L(F ) =
In particular, taking
m
X
(x1 ; x2 ) = x1 x2
we obtain
IP (F ; G): So we look
to
@
(F )G)
@xi
d
1
d
1
d
where : R ! R is a smooth function, F = (F ; :::; F ) and F ; :::; F ; G 2 Sm : We dene
F to be the analogues of Malliavin's covarience matrix, that is
E(
F i = f i (H ): We suppose that F
m
X
r=1
@f i @f j
)(H )r
@xr @xr
m
X
m
X
m
X
r=1
Dr (F )Dr F j r =
r=1
m
X
@
q
j
q (F )Dr F Dr F r
@x
q=1
m
X
@
@
@
qj
qD F j =
q ; DF j > =
(
F
)
D
F
(
F
)
<
DF
r
r
r
q
q
q (F )F :
@x
@x
@x
q=1
r=1
q=1
q=1
It follows that
m
X
m
X
F =: F 1 : Using the
m
X
@
(F ) =
< D(F ); DF j >
Fjq :
@xq
j =1
Moreover we have
RR n 4718
F j L(F )
Bally
36
so that
E(
m
X
@
(F )G) = E ( < D(F ); DF j >
Fji G)
@xi
j =1
m
1 X
(F )LF j + F j L(F ) L((F )F j )
Fji G)
= E(
2 j=1
m
X
1
E ((F )
Fji GLF j + L(F j
Fji G) F j L(
Fji G) ):
2
j =1
Theorem 7
Let
with
H i (F ; G) =
m
1X
Fji GLF j + L(F j
Fji G) F j L(
Fji G) :
2 j=1
This is the central integration by parts formula in Malliavin's calculus (in nite dimensional version).
property
We need
E jdet F jp < 1:
This is related to
F > 0 where F
F
which is computed
as
F =
m
d
X
X
@f i
@f j
inf < F ; >= inf
r
(H ) (H ) i j
@xr
jj=1
jj=1 r=1 i;j=1 @xr
m
X
d
X
@f i
(H ) i
= inf
r
@x
jj=1 r=1
r
i=1
Recall that
det F
!2
dF
m
X
d
X
@f i
r
(x) i
F (x) = inf
@x
jj=1 r=1
r
i=1
!2
INRIA
37
F = F (H ); the function F control the non degenerency of F : Note that F (x) > 0
@f 1
@f d
d
means that Spanfvr (x); r = 1; :::; mg = R where vr = (
@xr ; :::; @xr ): So it is the analoguSince
oues of the ellipticity condition in the frame of diusion processes. Note also that, if we
suppose that
for some
suggests that at list in a rst etape we may evacuate the diculty of the non degenerency
problem just by using local results with a localization in the region where
F (x)
is strictly
d
Let D R be a set
1
d
C (R ; R) with sup D: Then
Lemma 8
E
This is because
F (x)
such that
(H )
jdet F (H )jp < 1;
and let
8p 2 N:
This suggests the following localized version of the integration by parts formula.
Theorem 8
We assume the same hypothesis as in the previous theorem - except the non
c > 0: Then
IPi (F ; G) E (
2 C 1 (Rd; R)
with
some
@
(F )(H )G) = E ((F )Hi (F ; G))
@xi
with
Hi (F ; G)) =
m
1X
Fij (H )GLF j + L(F j (H )
Fij G) F j L((H )
Fij G) :
2 j=1
E ((F )) =
(x)p(x)dx:
We have the following standard result (we give rst the result in the one dimensional case):
Lemma 9
Let
of the density
RR n 4718
Bally
38
Proof.
a neighbourhod of
E (0 (F
In order to let this reasoning rigourous one has to regularize the Dirac function. So we take
R
2 Cc1 (R) with the support equal to [ 1; 1] and such that (y)dy = 1
1 (y 1 ): Moreover we dene to be the primitive
and for each > 0 we dene (y ) =
Ry
of given by (y ) =
(
z
)
dz
and we construct some random variables of law
1
(y)dy and which are independent of F . For each f 2 Cc1 (R) we have
a positive function
E (f (F )) = lim Ef (F
!0
Supose now that
Ef (F
)) =
sup f
Z Z
)):
(65)
f (u v) (v)dvdP F
1 (u) =
Z Z
f (z ) (u z )dzdP F 1 (u):
Suppose that
Z Z
f (z ) (u z )dzdP F 1 (u) =
=
=
Z Z
Z
and
ju z j <
implies
f (z ) (u z )(u)dzdP F 1 (u)
Z
f (z )E ( (F
z )(F ))dz =
f (z )E ( (F
z )H (F ; 1))dz:
f (z )E (0 (F
z )(F ))dz
The above relation togather with (65) guarantees that the law of
ous with respect to the Lebesgue measure. On the other hand
convergence theorem we pass to the limit in the above relation and we obtain
E (f (F )) =
Let us now give the multi dimensional version of the above result. We consider a multi-
INRIA
39
The law of F has a density on f F > 0g: An integral reprep may be obtained in the following way. Let c > 0 and let 2 C 1 (Rd; R) with
(x) = 1 for x 2 f > c=2g and (x) = 0 for x 2 f F < c=4g: Then for every x 2 f F > cg
Lemma 10
i) Let
sentation of
2 Smd .
F (x) > 0
for every
x 2 Rd: Then F
The rst point is proven as in the one dimensional case, just noting that
Rd :
D(1;:::;d)1I (x)(y) =
ruther amaising because usually we need global non degenerency for the Malliavin matrix
in order to produce a density. Or, in order to obtain global non degenerency (this means
E det F k < 1 for every k) we need F (x) > c for every x; which amounts to an uniform
ellipticity assumtion. And such an assumption is more restrictive then ours, because one
may have
limx!1 (x) = 0: In fact, as it is clear from our reasoning, the uniform ellipticity
is not necessary in order to produce a density, and moreover, in order to prove that this
density is smooth. At the contrary, if we want to obtain some evaluations concerning the
behaviour of this density as
out for the moment - we assume that we have succeded to emphasise some 'objective' random
H on which the model depends. We are interested in the derivatives with respect
J () =: E ((F (; !))) where is some function. Suppose that is dierentiable
variable
to
of
d
X
@J
@
@f j
() =
E ( (F (; !)) (F (; !)):
@i
@i
j =1 @xj
If
is dierentiable we stop here and we use the above formula in order to compute the
derivatives of
in order to obtain
d
X
@f j
@J
() = E ((F (; !)) H j (F (; :);
(F (; !))):
@i
@i
j =1
And this is the ibntegral representation of
@J
@i :
What about non degenrency and about localization? The non degenerency set is
0g with
RR n 4718
m
X
d
X
@f i
r
(; x) i
(x) = inf
@x
jj=1 r=1
r
i=1
!2
f >
Bally
40
>0
are in
the region of non degenerancy. In order to write it down we denote by 0 ;";c = fx :
(f (; x)) > c; 8 2 (0 "; 0 + ")g and we consider a localization function which is
equal to 1 on 0 ;";c and si null outside 0 ;"=2;c=2 : We also suppose that is dierentiable
outside 0 ;";c : Then we write
If we localize on this set we need no more non- degnerency assumption (of course, if
d
X
@J
@
@f j
() =
E(
() + (1 ))(F (; !)) (F (; !))
@i
@i
j =1 @xj
d
X
@f j
@(1 )
(F (; !)) (F (; !))
=
E(
@xj
@i
j =1
d
X
j =1
H i (F (; :);
@f j
(F (; !)(F (; !))):
@i
is dierentiable and we employ the inte is not dierentiable. If we are lucky the
singularitites of ar in the non degenerency rigion of H (in e;0 ;c ) and so the non degenSo we simplely derivate in the region in which
gration by parts formula in the region where
erancy assumption is automatically satised.
5 Diusion processes
In this section we briey present the Malliavin calculus for diusion process. We consider
the
dXti =
We denote by
d
X
j =1
solution of the
SDE
(66)
We denote by
(67)
The rst application of Malliavin calculus was to prove that under Hormander's condition
(see
(H x0 ) bellow) the law of Xt has a smooth density with respect to the Lebesgue measure
and to obtain exponential bounds for the density and for its derivatives (it turns out that
this produces a probabilistic proof for Hormander's theorem - see [20] or [15]). Malliavin's
approach goes through the absolute continuity criterion presented in the previous section.
In order to apply this criterion one has to prove two things. First of all one has to check the
regularity of
Xt
Xt 2 D1 :
INRIA
41
Xt
(HXt )
holds true.
This is a
problem of stochastic calculus which is much more dicult. A complete study of this problem
(including very useful quantitative evaluations for the Malliavin's covariance matrix and for
the density of the law of
Xt )
has been done in [12] (see also [15] or [10]). The subject is
extremely technical so we do not give here complete proofs. We will give the main results
and outline the proofs, just to give an idea about what is going on.
We begin with the results. Let us introduce the Lie bracket of
by
[f; g] = f rg
grf
f; g 2 C 1 (RN ; RN ) dened
or, on components
[f; g]i =
N
X
j =1
@gi j
f
@xj
@f i j
g ):
@xj
Then we construct by recurrence the sets of functions L0 = f1 ; :::; d g; Lk+1 = f[b; ]; [1 ; ]; :::; [d ; ] :
2 Lk g where j is the j 0 th column of the matrix : We also dene L1 = [1
k=0 Lk : Given
N we consider the hypothesis
a xed point x0 2 R
We
holds true,
that is if
(H x0 ) Spanf(x0 ) : 2 L1 g = RN :
x0
N which is equivalent with
Note that (H0 ) means that Spanf1 (x0 ); :::; d (x0 )g = R
(x0 ) > 0 which is the ellipticity assumption in x0 : So Hormander's condition is much
weaker than the ellipticity assumption in the sense that except for the vectors 1 (x0 ); :::; d (x0 )
it employes the Lie brackets as well.
Theorem 9
where
Ck;p (t)
mk 2 N
(Hkx0 )
k:
The function
as
k; p; t
t ! 0:
+ jx0 j)
:
Ck;p (t)(1
n
k
t =2
and
(68)
such that
(det
X x ) 1
t
p
t nk =2
t 0; Xt 2 D1
mk
and
and of
Ck;p (t); nk
2N
(69)
C1
function. Moreover, if
RR n 4718
(H x0 )
and
Bally
42
2
m
C0 (t)(1tn+=2jx0 j) exp( D0 (t) jyt x0 j )
2
m
C (t)(1 + jx0 j) exp( D (t) jy x0 j )
0
pt (x0 ; y)
D pt (x0 ; y )
tn =2
C0 ; D0 ; C
Remark 11
In fact
and
(70)
for which
t:
t
(Hkx0 ) holds true and the
(70) hold true for the derivatives with respect to these variables also. See [12] for complete
information and proofs.
2 n dened by
X i (tkn+1 ) = X i (tkn ) +
n2N
and let
X be the Euler
d
X
i
k 1
ji (X (tkn ))k;j
n + b (X (tn )) 2n
j =1
(71)
X (0) = x: We interpolate on [tkn ; tkn+1 ) keeping the coecients ji (X (tkn )) and bi (X (tkn ))
constants but we allow the Brownian motion and the time to move. This means that X (t)
solves the SDE
and
X (t) = x +
d Z t
X
j =1 0
j (X (s ))dBsj +
Z t
s 2 [tkn ; tkn+1 ):
k
1;p ; we have
In view of (71) X (tn ) is a simple functional. So, in order to prove that Xt 2 D
p
to prove that X (t ) converges in L (
) to X (t) - and this is a standard result concerning
p
the Euler scheme approximation - and that DX (t ) converges in L ([0; 1)
) to some
limit. Then we dene DX (t) to be this limit. Using (33)
where
s = tkn
for
Z tX
N
0 l=1
d Z tX
N
X
j =1 s l=1
@ji
i
(X (r ))Dsq X (r )dBrj
@xl
@bi
(X (r ))Dsq X i (r )dr:
@xl
INRIA
d Z tX
N
X
i
Qq;i
s (t) = q (X (s)) +
j =1 s l=1
43
Z tX
N
@ji
@bi
q;l (r)dB j +
(
X
(
r
))
Q
(X (r))Qq;l
s
r
s (r)dr:
l
l
@x
@x
0 l=1
q i (t); t
Then
give
E
and so
Z
p=2
Z t
p=2
1
Qs (t) Ds X (t)2 ds
Qs (t) Ds X (t)2 ds
=E
!0
2 D1;p
Xt
is determined
and
ds almost surely.
d Z tX
N
X
j =1
Z tX
N
@ji
@bi
q X l (r)dB j +
(
X
(
r
))
D
(X (r))Dsq X l(r)dr
s
r
l
l
@x
@x
s l=1
0 l=1
(72)
q i
D X (t)
stT
N Z t
X
Dq X l (t)
C (1 +
l=1 s
T <0
p dr)
C is a constant which depends on the
bounds of
; r and rb: Then, using Gronwall's
t 2 (s; T ] one obtains supstT
Dsq X i (t)
p C where C depends on the above
bounds and of T: So the proposition is proved for the rst order derivatives. The proof is
where
lemma for
analogues - but much more involved from a notational point of view - for higher derivatives,
so we live it out.
Remark 12
that
LXt
It follows that
solves a
SDE
and
Xt
where
Cp (T ) depends
RR n 4718
on
p; T
(73)
Bally
44
x ! Xtx is dierentiable
for every t 0. Moreover, Yt =: rXt satises a SDE and, for each (t; ! ); the matrix Yt (! )
1 satises itself a SDE: Let us be more precise. We denote
is invertible and Zt = Yt
(67) one may choose a version of the diusion process
SDE
of
such that
@X x;i(t)
:
@xj
Yjx;i (t) =
Then dierentiating in the
repeated indexes)
Z t
@bi x x;k
@li x x;k
l+
(
X
)
Y
(
s
)
dB
s
s
j
k
k (Xs )Yj (s)ds:
0 @x
0 @x
We dene then Z to be the solution of the SDE
Yjx;i (t) = ij +
Zjx;i (t) = ij
Z t
Z t
@k
Zkx;i lj (Xsx )(s)dBsl
@x
Z t
Zkx;i(
@bk
@xj
@lk @lr x
)(X )(s)ds:
@xr @xj s
Z (0)Y (0) = I
and
Ds X (t) = Yt Zs (Xs ):
(74)
and consequently
SDE
satised by
Z t
(75)
consequence of
(HX0 t )
< 1; p > 1:
INRIA
Step 2.
45
We are now in the frame of the previous section and so our aim is to develop
= ij
Using Ito's formula (see [15] Section 2.3 for the detailed
2 C 2 (RN ; RN )
j (x) +
Z t
d
1X
+
[ ; [ ; ]]k )(X (s)))ds
2 l=1 l l
where
l : RN
Z t
SDE
of
(76)
1 r
2
Z t
(77)
Z x(t)(X x (t))
(x) + Tl ()(x)Btl +
= (x) + Tl ()(x)Btl +
Z t
Z tZ s
For a multi-index
we obtain for each
Z x(t)(X x (t)) =
We dene
RR n 4718
p()m=2
T ()(x)I (1)(t) +
p()=(m+1)=2
I (Z xT ()(X x ))(t)
Bally
46
d
X
Qxm ( ) =: inf
< T (l )(x); >2 :
jj=1 l=1 0p()m=2
. This permits to obtain the evaluations in (69) and (70) . We do not give here the proof -
see
[K:S; 2]:
Step 3.
pt (x0 ; y) and
moreover, we have polynomial bounds for the density and for its derivatives. It remains to
obtain the exponential bounds under the boundedness assumptions on
2 RN
such that
yi > 0; i = 1; :::; N:
and
b:
The idea
Iy (x) =
QN
i=1 [y
i ; 1):
(E H(1;:::;1)(Xtx0 ; 1)2 )1=2
H(1;:::;1)
one
C (1 + jxj)q
:
tp=2
P (Xtx0 2 Iy )
N
Y
i=1
P (Xti;x0 yi )1=2 :
yi
xi0
yi xi0
x0
0 b(Xs )ds 2
Rt
Suppose
and so
P (Xti;x0 yi ) P (Mtx0
yi xi0
)
2
Rt i
x0
x0
j
square integrable martingale
j =1 0 j (Xs )dBs :RSince Mt is a continuous
2
P
t
d
x0
x
x0
x0
i
compensator < M 0 > (t) =
0 j =1 j (Xs ) ds one has Mt = b(< M > (t))
where
with
b is bounded.
where
Mtx0 =
Pd
Note that
so that
Finally using Doob's inequality and elementary evaluations for gaussian random variables
we obtain
INRIA
P (Xti;x0
yi ) P (Mtx y
0
xi0
47
yi xi0
sup
j
b(s)j
)
2
sdtkk21
yi xi0
C
(yi xi0 )2
) p exp(C 0
):
2
2t
t
) P(
4P (b(d t kk21 )
yN
has to employ integration by parts formulas of higher order, as in the proof of Lemma 2 in
section 1.
References
[1] V. Bally: On the connection between the Malliavin covariance matrix and Hormander's
condition. J. Functional Anal. 96 (1991) 219-255.
[2] D.R. Bell: The Maliiavin Calculus. Pitman Monographs and Surveys in Pure and Applied Math. 34, Longman and Wiley, 1987.
[3] G. Ben Arous: Flots et sries de Taylor stochastiques; PTRF 81(1989), 29-77
[4] K. Bichteler, J.B. Gravereaux and J. Jacod:
RR n 4718
Bally
48
[11] H. Kunita: Stochastic ows and Stochastic Dierential Equations, Cambridge Univ.
Press, 1988.
[12] S. Kusoucka and D. W. Stroock: Applications of the Malliavin Calculus II. J. Fac. Sci.
Univ. Tokyo Sect IA Math. 32 (1985) 1-76.
[13] P. Malliavin:
Inter. Symp. on Stoch. Di. Equations, Kyoto 1976, Wily 1978, 195-263.
[14] J. Norris: Simplied Malliavin Calculus. In Seminaire de Probabilits XX, lecture Notes
in math. 1204 (1986) 101-130.
[15] D. Nualart The Malliavin Calculus and Related Topics.In probability and its Applications, Springer-Verlag, 1995.
[16] D. Ocone: Malliavin calculus and stochastic integral representation of diusion processes. Stochastics 12 (1984) 161-185.
[17] I. Sigekawa: Derivatives of Weiner functionals and absolute continuity of induced measures. J. Math. Kyoto Univ. 20-2(1980) 263-289.
[18] A. V. Skorohod: On a generalization of a stochastic integral. Thory Probab. Appl. 20
(1975) 219-233.
[19] F.J. Vasquez- Abad: A course on sensitivity analysis for gradient estimation of DES
performance measures.
[20] S. Watanabe:
Contents
1 Introduction
2.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Malliavin Calculus
3.1
10
10
13
3.2
18
. . . . . . . . . . . . . . . . . . . . . . . . .
21
3.3
25
3.2.1
INRIA
49
33
5 Diusion processes
40
RR n 4718
diteur
INRIA - Domaine de Voluceau - Rocquencourt, BP 105 - 78153 Le Chesnay Cedex (France)
http://www.inria.fr
ISSN 0249-6399