We are given a family of continuous functions {fi : [0, 1] → [0, 1] : i ∈ {1, . . . , N}} that are increasing and injective, possessing the following “contractive” properties:
- (1)
∀x∈(0,1)∃i,j∈{1,...,N} fi(x) < x < fj (x),
- (2)
∃i∈{1,...,N} fi(0) > 0,
- (3)
∃i∈ {1,...,N} fi(1) < 1.
This system generates a Markov chain, the distribution of which we will investigate. First, we are interested in whether this chain possesses a unique, non-atomic invariant measure. We will show that every measure will converge weakly to the unique invariant measure. Finally, we will prove the central limit theorem for this chain.
We use the approach from [1] as arguments for proving the properties turn out to be similar and easier to grasp. However, we took a different approach to proving the existence of a unique invariant measure as we use e-property introduced in [2] which made the proof quicker.
Let (S, d) be a metric space. By (C(S), ‖ · ‖), we denote the family of all continuous and bounded functions f : S → ℝ, equipped with the supremum norm ‖ · ‖.
Let ℳ(S) denote the set of all finite measures on the σ-algebra ℬ(S) of Borel subsets of the set S. Let ℳ1(S) ⊂ ℳ(S) denote the subset of all probability measures on S.
An operator P : ℳ(S) → ℳ(S) is called a Markov operator if it satisfies the following conditions:
- (1)
P(λ1μ1 + λ2μ2) = λ1Pμ1 + λ2Pμ2 for λ1, λ2 ≥ 0, μ1, μ2 ∈ ℳ(S),
- (2)
Pμ(S) = μ(S) for μ ∈ ℳ(S).
A Markov operator P is called a Feller operator if there exists a linear operator U : C(S) → C(S) such that ∫S Ufdμ = ∫S fdPμ for every f ∈ C(S) and μ ∈ ℳ(S).
A measure μ∗ is called P-invariant for the Markov operator P if Pμ∗ = μ∗.
A Markov operator P is called asymptotically stable if it has a unique invariant measure μ∗ ∈ ℳ1(S) and, moreover, for every measure μ ∈ ℳ1(S), the sequence (Pnμ)n∈ℕ converges weakly to μ∗, i.e.,
Let (S, d) be a compact metric space, and let P : ℳ(S) → ℳ(S) be a Feller operator defined on finite Borel measures on this space.
Then P has at least one invariant probability measure, i.e., there exists a measure μ ∈ ℳ1(S) such that for any A ∈ ℬ(S),
Let (Ω, ℱ, μ) be a measure space. A set A ∈ ℱ is called an atom if, for any B ∈ ℱ, B ⊂ A, and μ(B) < μ(A), we have μ(B) = 0. A measure is called non-atomic if the measure space has no atoms, i.e., if A, B ∈ ℱ and B ⊂ A, then μ(A) > μ(B) > 0.
We will consider the following Feller operator. Assume that fi : [0, 1] → [0, 1] for i ∈ {1, . . . ,N} are continuous functions and let (p1, . . . , pN) be a probability vector. The family (f1, . . . , fN; p1, . . . , pN) generates a Markov operator P : ℳ(S) → ℳ(S) of the form
Let H be the space of continuous functions f : [0, 1] → [0, 1] that are increasing and injective. Let {f1, . . . , fN} ⊂ H be a finite set of functions satisfying the following properties:
- (1)
∀x∈(0,1) ∃i,j∈{1,...,N} fi(x) < x < fj(x),
- (2)
∃i∈{1,...,N} fi(0) > 0,
- (3)
∃i∈{1,...,N} fi(1) < 1
The system (f1, . . . , fN; p1, . . . , pN) has a corresponding Markov operator P defined as before. For each measure ν ∈ ℳ1(S), we describe the Markov chain (Xn) with the transition probability π(x, A) = Pδx(A) for x ∈ [0, 1], A ∈ ℬ([0, 1]), and initial distribution ν using the probabilistic measure ℙν on the space ([0, 1]ℕ, ℬ([0, 1])⊗ℕ) such that:
Since the interval [0, 1] is a compact set, the Markov operator P has at least one invariant measure μ∗, which is a consequence of Krylov-Bogoliubov’s theorem. We now need to show that there is only one invariant measure. We also need to show that it is nonatomic.
We introduce a few theorems and lemmas needed to prove atomlessness and existence of a unique measure.
Let
- (1)
There is no non-trivial interval I ⊂ [0, 1] invariant under G.
- (2)
There exists at least one probability measure μ on (0, 1) that is stationary for the random walk.
Note that the theorem is also true on the interval [a, b].
There exists a q < 1 such that for every x ∈ (0, 1), there exists a neighborhood Ix of x, such that for ℙ almost all i ∈ Σ, the following holds:
Let gi ∈ Homeo([−ε, 1 + ε]), such that for x ∈ [0, 1] we have gi(x) = fi(x). This family does not satisfy the first assumption of the previous theorem, because [0, 1] is invariant under G. We will prove that there exists a stationary measure for the random walk generated by G.
By Krylov–Bogoliubov’s theorem, we know that the Markov operator generated by the family (f1, . . . , fn, p1, . . . , pn) has an invariant measure μ. Let μ∗ ∈ M([−ε, 1 + ε]) be defined by μ∗(A) = μ(A ∩ [0, 1]). It is easy to verify that μ∗ is an invariant measure for the operator PG generated by G. We will show that μ∗ is a stationary measure for the random walk generated by G. We need to show that for every measurable set A, the following holds:
Before we proceed to prove the uniqueness of the invariant measure, we will prove that invariant measures must be atomless, and their supports contain the endpoints of the interval.
Every invariant measure of the operator P is atomless.
Suppose there exists an invariant measure μ∗ for the operator P that has an atom. Let a ∈ (0, 1) be a point such that
Every invariant measure of the operator P contains the points 0 and 1 in its support.
Suppose that 0 ∉ supp(μ). Then, by the atomlessness of μ, there exists the largest a > 0 such that μ([0, a]) = 0. However, from the invariance of μ, we obtain:
Let S be a compact metric space. We say that a Feller operator P has the e-property at the point x ∈ S if for every Lipschitz function ϕ: S → ℝ, the following holds:
Let P be a Feller operator that possesses the e-property. Then for any two distinct ergodic measures μ, ν ∈ M1(S), the following holds:
We now proceed with the proof of the uniqueness of the invariant measure.
There exists exactly one invariant measure for the Feller operator P.
We know that if μ is an invariant measure, then 0 ∈ supp μ. Therefore, we only need to check that the operator P has the e-property at 0. Let ε > 0 be given. We need to show that there exists a δ > 0 such that if h < δ, then for every n ≥ N0, the following holds:
We will now proceed with the proof of the asymptotic stability of the operator P.
Let μ∗ be the unique invariant measure of the operator P. Then every probabilistic measure μ converges weakly to μ∗. For continuous functions ϕ, we have:
For ψ ∈ C([0, 1]), define the sequence of random variables on (Σ, ℝ) by
To show the asymptotic stability, it is sufficient to show that for a Lipschitz function ψ and any points x, y ∈ (0, 1), the following holds:
Let the family (f1, . . . , fN; p1, . . . , pN) be a contracting iterated function system, and let
Let J = [a, 1 − a] be such that fd(fg(0)), fd(fg(1)) ∈ J. Let
Let 𝒜 ⊂ Σ be a set such that ℙ(𝒜) ≥ β for some β > 0 and let k, n ∈ ℕ with k < n. Then, there exists a set A ⊂ Σn such that ℙn(Σn\A) ≤ (1 − β)k and for any i ∈ A there exist i1, i2, . . . , ik ∈ Σ∗ such that i = i1i2 . . . ik and for j = 1, . . . , k at least one of the sequences ij, σij , . . . , σk−1ij is dominated by A.
Let Xn be a stationary Markov chain generated by a random walk with the initial distribution given by μ∗. If ϕ: [0, 1] → ℝ is a Lipschitz function such that ∫[0,1] ϕdμ∗ = 0, then the process ϕ(Xn) satisfies the central limit theorem. That is,
From the uniqueness of the ergodic measure μ∗, we know that the chain is ergodic. Therefore, by Theorem 1 from [5], it is sufficient to show that