Remove unused functions, mostly related to old analytical derivatives
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8d8176fc30
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435b103cf5
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@ -1,152 +0,0 @@
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function [AHess, DLIK, LIK] = AHessian(T,R,Q,H,P,Y,DT,DYss,DOm,DH,DP,start,mf,kalman_tol,riccati_tol)
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% function [AHess, DLIK, LIK] = AHessian(T,R,Q,H,P,Y,DT,DYss,DOm,DH,DP,start,mf,kalman_tol,riccati_tol)
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%
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% computes the asymptotic hessian matrix of the log-likelihood function of
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% a state space model (notation as in kalman_filter.m in DYNARE
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% Thanks to Nikolai Iskrev
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%
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% NOTE: the derivative matrices (DT,DR ...) are 3-dim. arrays with last
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% dimension equal to the number of structural parameters
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% Copyright © 2011-2017 Dynare Team
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%
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% This file is part of Dynare.
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%
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% Dynare is free software: you can redistribute it and/or modify
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% it under the terms of the GNU General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% Dynare is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU General Public License
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% along with Dynare. If not, see <https://www.gnu.org/licenses/>.
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k = size(DT,3); % number of structural parameters
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smpl = size(Y,2); % Sample size.
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pp = size(Y,1); % Maximum number of observed variables.
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mm = size(T,2); % Number of state variables.
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a = zeros(mm,1); % State vector.
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Om = R*Q*transpose(R); % Variance of R times the vector of structural innovations.
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t = 0; % Initialization of the time index.
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oldK = 0;
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notsteady = 1; % Steady state flag.
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F_singular = 1;
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lik = zeros(smpl,1); % Initialization of the vector gathering the densities.
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LIK = Inf; % Default value of the log likelihood.
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if nargout > 1
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DLIK = zeros(k,1); % Initialization of the score.
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end
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AHess = zeros(k,k); % Initialization of the Hessian
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Da = zeros(mm,k); % State vector.
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Dv = zeros(length(mf),k);
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% for ii = 1:k
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% DOm = DR(:,:,ii)*Q*transpose(R) + R*DQ(:,:,ii)*transpose(R) + R*Q*transpose(DR(:,:,ii));
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% end
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while notsteady && t<smpl
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t = t+1;
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v = Y(:,t)-a(mf);
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F = P(mf,mf) + H;
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if rcond(F) < kalman_tol
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if ~all(abs(F(:))<kalman_tol)
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return
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else
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a = T*a;
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P = T*P*transpose(T)+Om;
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end
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else
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F_singular = 0;
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iF = inv(F);
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K = P(:,mf)*iF;
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lik(t) = log(det(F))+transpose(v)*iF*v;
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[DK,DF,DP1] = computeDKalman(T,DT,DOm,P,DP,DH,mf,iF,K);
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for ii = 1:k
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Dv(:,ii) = -Da(mf,ii) - DYss(mf,ii);
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Da(:,ii) = DT(:,:,ii)*(a+K*v) + T*(Da(:,ii)+DK(:,:,ii)*v + K*Dv(:,ii));
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if t>=start && nargout > 1
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DLIK(ii,1) = DLIK(ii,1) + trace( iF*DF(:,:,ii) ) + 2*Dv(:,ii)'*iF*v - v'*(iF*DF(:,:,ii)*iF)*v;
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end
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end
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vecDPmf = reshape(DP(mf,mf,:),[],k);
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% iPmf = inv(P(mf,mf));
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if t>=start
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AHess = AHess + Dv'*iF*Dv + .5*(vecDPmf' * kron(iF,iF) * vecDPmf);
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end
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a = T*(a+K*v);
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P = T*(P-K*P(mf,:))*transpose(T)+Om;
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DP = DP1;
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end
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notsteady = max(max(abs(K-oldK))) > riccati_tol;
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oldK = K;
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end
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if F_singular
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error('The variance of the forecast error remains singular until the end of the sample')
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end
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if t < smpl
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t0 = t+1;
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while t < smpl
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t = t+1;
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v = Y(:,t)-a(mf);
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for ii = 1:k
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Dv(:,ii) = -Da(mf,ii)-DYss(mf,ii);
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Da(:,ii) = DT(:,:,ii)*(a+K*v) + T*(Da(:,ii)+DK(:,:,ii)*v + K*Dv(:,ii));
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if t>=start && nargout >1
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DLIK(ii,1) = DLIK(ii,1) + trace( iF*DF(:,:,ii) ) + 2*Dv(:,ii)'*iF*v - v'*(iF*DF(:,:,ii)*iF)*v;
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end
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end
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if t>=start
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AHess = AHess + Dv'*iF*Dv;
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end
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a = T*(a+K*v);
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lik(t) = transpose(v)*iF*v;
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end
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AHess = AHess + .5*(smpl-t0+1)*(vecDPmf' * kron(iF,iF) * vecDPmf);
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if nargout > 1
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for ii = 1:k
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% DLIK(ii,1) = DLIK(ii,1) + (smpl-t0+1)*trace( iF*DF(:,:,ii) );
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end
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end
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lik(t0:smpl) = lik(t0:smpl) + log(det(F));
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% for ii = 1:k;
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% for jj = 1:ii
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% H(ii,jj) = trace(iPmf*(.5*DP(mf,mf,ii)*iPmf*DP(mf,mf,jj) + Dv(:,ii)*Dv(:,jj)'));
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% end
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% end
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end
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AHess = -AHess;
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if nargout > 1
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DLIK = DLIK/2;
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end
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% adding log-likelihhod constants
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lik = (lik + pp*log(2*pi))/2;
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LIK = sum(lik(start:end)); % Minus the log-likelihood.
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% end of main function
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function [DK,DF,DP1] = computeDKalman(T,DT,DOm,P,DP,DH,mf,iF,K)
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k = size(DT,3);
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tmp = P-K*P(mf,:);
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for ii = 1:k
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DF(:,:,ii) = DP(mf,mf,ii) + DH(:,:,ii);
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DiF(:,:,ii) = -iF*DF(:,:,ii)*iF;
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DK(:,:,ii) = DP(:,mf,ii)*iF + P(:,mf)*DiF(:,:,ii);
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Dtmp = DP(:,:,ii) - DK(:,:,ii)*P(mf,:) - K*DP(mf,:,ii);
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DP1(:,:,ii) = DT(:,:,ii)*tmp*T' + T*Dtmp*T' + T*tmp*DT(:,:,ii)' + DOm(:,:,ii);
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end
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% end of computeDKalman
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@ -1,47 +0,0 @@
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function x = bseastr(s1,s2)
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% Copyright © 2001-2017 Dynare Team
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%
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% This file is part of Dynare.
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%
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% Dynare is free software: you can redistribute it and/or modify
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% it under the terms of the GNU General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% Dynare is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU General Public License
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% along with Dynare. If not, see <https://www.gnu.org/licenses/>.
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m = size(s1,1) ;
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x = zeros(m,1) ;
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s1=upper(deblank(s1));
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s2=upper(deblank(s2));
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for im = 1:m
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key = s1(im,:) ;
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h = size(s2,1) ;
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l = 1 ;
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while l <= h
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mid = round((h+l)/2) ;
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temp = s2(mid,:) ;
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if ~ strcmp(key,temp)
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for i = 1:min(length(key),length(temp))
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if temp(i) > key(i)
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h = mid - 1 ;
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break
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else
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l = mid + 1 ;
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break
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end
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end
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else
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x(im) = mid ;
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break
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end
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end
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end
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@ -1,255 +0,0 @@
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function [Hess] = get_Hessian(T,R,Q,H,P,Y,DT,DYss,DOm,DH,DP,D2T,D2Yss,D2Om,D2H,D2P,start,mf,kalman_tol,riccati_tol)
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% function [Hess] = get_Hessian(T,R,Q,H,P,Y,DT,DYss,DOm,DH,DP,D2T,D2Yss,D2Om,D2H,D2P,start,mf,kalman_tol,riccati_tol)
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%
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% computes the hessian matrix of the log-likelihood function of
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% a state space model (notation as in kalman_filter.m in DYNARE
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% Thanks to Nikolai Iskrev
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%
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% NOTE: the derivative matrices (DT,DR ...) are 3-dim. arrays with last
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% dimension equal to the number of structural parameters
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% NOTE: the derivative matrices (D2T,D2Om ...) are 4-dim. arrays with last
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% two dimensions equal to the number of structural parameters
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% Copyright © 2011-2017 Dynare Team
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%
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% This file is part of Dynare.
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%
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% Dynare is free software: you can redistribute it and/or modify
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% it under the terms of the GNU General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% Dynare is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU General Public License
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% along with Dynare. If not, see <https://www.gnu.org/licenses/>.
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k = size(DT,3); % number of structural parameters
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smpl = size(Y,2); % Sample size.
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pp = size(Y,1); % Maximum number of observed variables.
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mm = size(T,2); % Number of state variables.
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a = zeros(mm,1); % State vector.
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Om = R*Q*transpose(R); % Variance of R times the vector of structural innovations.
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t = 0; % Initialization of the time index.
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oldK = 0;
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notsteady = 1; % Steady state flag.
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F_singular = 1;
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Hess = zeros(k,k); % Initialization of the Hessian
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Da = zeros(mm,k); % State vector.
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Dv = zeros(length(mf),k);
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D2a = zeros(mm,k,k); % State vector.
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D2v = zeros(length(mf),k,k);
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C = zeros(length(mf),mm);
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for ii=1:length(mf); C(ii,mf(ii))=1;end % SELECTION MATRIX IN MEASUREMENT EQ. (FOR WHEN IT IS NOT CONSTANT)
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dC = zeros(length(mf),mm,k);
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d2C = zeros(length(mf),mm,k,k);
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s = zeros(pp,1); % CONSTANT TERM IN MEASUREMENT EQ. (FOR WHEN IT IS NOT CONSTANT)
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ds = zeros(pp,1,k);
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d2s = zeros(pp,1,k,k);
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% for ii = 1:k
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% DOm = DR(:,:,ii)*Q*transpose(R) + R*DQ(:,:,ii)*transpose(R) + R*Q*transpose(DR(:,:,ii));
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% end
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while notsteady & t<smpl
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t = t+1;
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v = Y(:,t)-a(mf);
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F = P(mf,mf) + H;
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if rcond(F) < kalman_tol
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if ~all(abs(F(:))<kalman_tol)
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return
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else
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a = T*a;
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P = T*P*transpose(T)+Om;
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end
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else
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F_singular = 0;
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iF = inv(F);
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K = P(:,mf)*iF;
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[DK,DF,DP1] = computeDKalman(T,DT,DOm,P,DP,DH,mf,iF,K);
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[D2K,D2F,D2P1] = computeD2Kalman(T,DT,D2T,D2Om,P,DP,D2P,DH,mf,iF,K,DK);
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tmp = (a+K*v);
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for ii = 1:k
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Dv(:,ii) = -Da(mf,ii) - DYss(mf,ii);
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% dai = da(:,:,ii);
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dKi = DK(:,:,ii);
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diFi = -iF*DF(:,:,ii)*iF;
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dtmpi = Da(:,ii)+dKi*v+K*Dv(:,ii);
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for jj = 1:ii
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dFj = DF(:,:,jj);
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diFj = -iF*DF(:,:,jj)*iF;
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dKj = DK(:,:,jj);
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d2Kij = D2K(:,:,jj,ii);
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d2Fij = D2F(:,:,jj,ii);
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d2iFij = -diFi*dFj*iF -iF*d2Fij*iF -iF*dFj*diFi;
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dtmpj = Da(:,jj)+dKj*v+K*Dv(:,jj);
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d2vij = -D2Yss(mf,jj,ii) - D2a(mf,jj,ii);
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d2tmpij = D2a(:,jj,ii) + d2Kij*v + dKj*Dv(:,ii) + dKi*Dv(:,jj) + K*d2vij;
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D2a(:,jj,ii) = D2T(:,:,jj,ii)*tmp + DT(:,:,jj)*dtmpi + DT(:,:,ii)*dtmpj + T*d2tmpij;
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Hesst(ii,jj) = getHesst_ij(v,Dv(:,ii),Dv(:,jj),d2vij,iF,diFi,diFj,d2iFij,dFj,d2Fij);
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end
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Da(:,ii) = DT(:,:,ii)*tmp + T*dtmpi;
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end
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% vecDPmf = reshape(DP(mf,mf,:),[],k);
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% iPmf = inv(P(mf,mf));
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if t>=start
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Hess = Hess + Hesst;
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end
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a = T*(a+K*v);
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P = T*(P-K*P(mf,:))*transpose(T)+Om;
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DP = DP1;
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D2P = D2P1;
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end
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notsteady = max(max(abs(K-oldK))) > riccati_tol;
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oldK = K;
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end
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if F_singular
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error('The variance of the forecast error remains singular until the end of the sample')
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end
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if t < smpl
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t0 = t+1;
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while t < smpl
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t = t+1;
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v = Y(:,t)-a(mf);
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tmp = (a+K*v);
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for ii = 1:k
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Dv(:,ii) = -Da(mf,ii)-DYss(mf,ii);
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dKi = DK(:,:,ii);
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diFi = -iF*DF(:,:,ii)*iF;
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dtmpi = Da(:,ii)+dKi*v+K*Dv(:,ii);
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for jj = 1:ii
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dFj = DF(:,:,jj);
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diFj = -iF*DF(:,:,jj)*iF;
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dKj = DK(:,:,jj);
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d2Kij = D2K(:,:,jj,ii);
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d2Fij = D2F(:,:,jj,ii);
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d2iFij = -diFi*dFj*iF -iF*d2Fij*iF -iF*dFj*diFi;
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dtmpj = Da(:,jj)+dKj*v+K*Dv(:,jj);
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d2vij = -D2Yss(mf,jj,ii) - D2a(mf,jj,ii);
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d2tmpij = D2a(:,jj,ii) + d2Kij*v + dKj*Dv(:,ii) + dKi*Dv(:,jj) + K*d2vij;
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D2a(:,jj,ii) = D2T(:,:,jj,ii)*tmp + DT(:,:,jj)*dtmpi + DT(:,:,ii)*dtmpj + T*d2tmpij;
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Hesst(ii,jj) = getHesst_ij(v,Dv(:,ii),Dv(:,jj),d2vij,iF,diFi,diFj,d2iFij,dFj,d2Fij);
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end
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Da(:,ii) = DT(:,:,ii)*tmp + T*dtmpi;
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end
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if t>=start
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Hess = Hess + Hesst;
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end
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a = T*(a+K*v);
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end
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% Hess = Hess + .5*(smpl+t0-1)*(vecDPmf' * kron(iPmf,iPmf) * vecDPmf);
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% for ii = 1:k;
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% for jj = 1:ii
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% H(ii,jj) = trace(iPmf*(.5*DP(mf,mf,ii)*iPmf*DP(mf,mf,jj) + Dv(:,ii)*Dv(:,jj)'));
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% end
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% end
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end
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Hess = Hess + tril(Hess,-1)';
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Hess = -Hess/2;
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% end of main function
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function Hesst_ij = getHesst_ij(e,dei,dej,d2eij,iS,diSi,diSj,d2iSij,dSj,d2Sij);
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% computes (i,j) term in the Hessian
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Hesst_ij = trace(diSi*dSj + iS*d2Sij) + e'*d2iSij*e + 2*(dei'*diSj*e + dei'*iS*dej + e'*diSi*dej + e'*iS*d2eij);
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% end of getHesst_ij
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function [DK,DF,DP1] = computeDKalman(T,DT,DOm,P,DP,DH,mf,iF,K)
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k = size(DT,3);
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tmp = P-K*P(mf,:);
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for ii = 1:k
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DF(:,:,ii) = DP(mf,mf,ii) + DH(:,:,ii);
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DiF(:,:,ii) = -iF*DF(:,:,ii)*iF;
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DK(:,:,ii) = DP(:,mf,ii)*iF + P(:,mf)*DiF(:,:,ii);
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Dtmp = DP(:,:,ii) - DK(:,:,ii)*P(mf,:) - K*DP(mf,:,ii);
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DP1(:,:,ii) = DT(:,:,ii)*tmp*T' + T*Dtmp*T' + T*tmp*DT(:,:,ii)' + DOm(:,:,ii);
|
||||
end
|
||||
|
||||
% end of computeDKalman
|
||||
|
||||
function [d2K,d2S,d2P1] = computeD2Kalman(A,dA,d2A,d2Om,P0,dP0,d2P0,DH,mf,iF,K0,dK0)
|
||||
% computes the second derivatives of the Kalman matrices
|
||||
% note: A=T in main func.
|
||||
|
||||
k = size(dA,3);
|
||||
tmp = P0-K0*P0(mf,:);
|
||||
[ns,no] = size(K0);
|
||||
|
||||
% CPC = C*P0*C'; CPC = .5*(CPC+CPC');iF = inv(CPC);
|
||||
% APC = A*P0*C';
|
||||
% APA = A*P0*A';
|
||||
|
||||
|
||||
d2K = zeros(ns,no,k,k);
|
||||
d2S = zeros(no,no,k,k);
|
||||
d2P1 = zeros(ns,ns,k,k);
|
||||
|
||||
for ii = 1:k
|
||||
dAi = dA(:,:,ii);
|
||||
dFi = dP0(mf,mf,ii);
|
||||
d2Omi = d2Om(:,:,ii);
|
||||
diFi = -iF*dFi*iF;
|
||||
dKi = dK0(:,:,ii);
|
||||
for jj = 1:k
|
||||
dAj = dA(:,:,jj);
|
||||
dFj = dP0(mf,mf,jj);
|
||||
d2Omj = d2Om(:,:,jj);
|
||||
dFj = dP0(mf,mf,jj);
|
||||
diFj = -iF*dFj*iF;
|
||||
dKj = dK0(:,:,jj);
|
||||
|
||||
d2Aij = d2A(:,:,jj,ii);
|
||||
d2Pij = d2P0(:,:,jj,ii);
|
||||
d2Omij = d2Om(:,:,jj,ii);
|
||||
|
||||
% second order
|
||||
|
||||
d2Fij = d2Pij(mf,mf) ;
|
||||
|
||||
% d2APC = d2Aij*P0*C' + A*d2Pij*C' + A*P0*d2Cij' + dAi*dPj*C' + dAj*dPi*C' + A*dPj*dCi' + A*dPi*dCj' + dAi*P0*dCj' + dAj*P0*dCi';
|
||||
d2APC = d2Pij(:,mf);
|
||||
|
||||
d2iF = -diFi*dFj*iF -iF*d2Fij*iF -iF*dFj*diFi;
|
||||
|
||||
d2Kij= d2Pij(:,mf)*iF + P0(:,mf)*d2iF + dP0(:,mf,jj)*diFi + dP0(:,mf,ii)*diFj;
|
||||
|
||||
d2KCP = d2Kij*P0(mf,:) + K0*d2Pij(mf,:) + dKi*dP0(mf,:,jj) + dKj*dP0(mf,:,ii) ;
|
||||
|
||||
dtmpi = dP0(:,:,ii) - dK0(:,:,ii)*P0(mf,:) - K0*dP0(mf,:,ii);
|
||||
dtmpj = dP0(:,:,jj) - dK0(:,:,jj)*P0(mf,:) - K0*dP0(mf,:,jj);
|
||||
d2tmp = d2Pij - d2KCP;
|
||||
|
||||
d2AtmpA = d2Aij*tmp*A' + A*d2tmp*A' + A*tmp*d2Aij' + dAi*dtmpj*A' + dAj*dtmpi*A' + A*dtmpj*dAi' + A*dtmpi*dAj' + dAi*tmp*dAj' + dAj*tmp*dAi';
|
||||
|
||||
d2K(:,:,ii,jj) = d2Kij; %#ok<NASGU>
|
||||
d2P1(:,:,ii,jj) = d2AtmpA + d2Omij; %#ok<*NASGU>
|
||||
d2S(:,:,ii,jj) = d2Fij;
|
||||
% d2iS(:,:,ii,jj) = d2iF;
|
||||
end
|
||||
end
|
||||
|
||||
% end of computeD2Kalman
|
123
matlab/score.m
123
matlab/score.m
|
@ -1,123 +0,0 @@
|
|||
function [DLIK] = score(T,R,Q,H,P,Y,DT,DYss,DOm,DH,DP,start,mf,kalman_tol,riccati_tol)
|
||||
% function [DLIK] = score(T,R,Q,H,P,Y,DT,DYss,DOm,DH,DP,start,mf,kalman_tol,riccati_tol)
|
||||
%
|
||||
% computes the derivative of the log-likelihood function of
|
||||
% a state space model (notation as in kalman_filter.m in DYNARE
|
||||
% thanks to Nikolai Iskrev
|
||||
%
|
||||
% NOTE: the derivative matrices (DT,DR ...) are 3-dim. arrays with last
|
||||
% dimension equal to the number of structural parameters
|
||||
|
||||
% Copyright © 2009-2017 Dynare Team
|
||||
%
|
||||
% This file is part of Dynare.
|
||||
%
|
||||
% Dynare is free software: you can redistribute it and/or modify
|
||||
% it under the terms of the GNU General Public License as published by
|
||||
% the Free Software Foundation, either version 3 of the License, or
|
||||
% (at your option) any later version.
|
||||
%
|
||||
% Dynare is distributed in the hope that it will be useful,
|
||||
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
% GNU General Public License for more details.
|
||||
%
|
||||
% You should have received a copy of the GNU General Public License
|
||||
% along with Dynare. If not, see <http://www.gnu.org/licen
|
||||
|
||||
k = size(DT,3); % number of structural parameters
|
||||
smpl = size(Y,2); % Sample size.
|
||||
mm = size(T,2); % Number of state variables.
|
||||
a = zeros(mm,1); % State vector.
|
||||
Om = R*Q*transpose(R); % Variance of R times the vector of structural innovations.
|
||||
t = 0; % Initialization of the time index.
|
||||
oldK = 0;
|
||||
notsteady = 1; % Steady state flag.
|
||||
F_singular = 1;
|
||||
|
||||
DLIK = zeros(k,1); % Initialization of the score.
|
||||
Da = zeros(mm,k); % State vector.
|
||||
Dv = zeros(length(mf),k); % observation vector.
|
||||
|
||||
% for ii = 1:k
|
||||
% DOm = DR(:,:,ii)*Q*transpose(R) + R*DQ(:,:,ii)*transpose(R) + R*Q*transpose(DR(:,:,ii));
|
||||
% end
|
||||
|
||||
while notsteady & t<smpl
|
||||
t = t+1;
|
||||
v = Y(:,t)-a(mf);
|
||||
F = P(mf,mf) + H;
|
||||
if rcond(F) < kalman_tol
|
||||
if ~all(abs(F(:))<kalman_tol)
|
||||
return
|
||||
else
|
||||
a = T*a;
|
||||
P = T*P*transpose(T)+Om;
|
||||
end
|
||||
else
|
||||
F_singular = 0;
|
||||
iF = inv(F);
|
||||
K = P(:,mf)*iF;
|
||||
|
||||
[DK,DF,DP1] = computeDKalman(T,DT,DOm,P,DP,DH,mf,iF,K);
|
||||
for ii = 1:k
|
||||
Dv(:,ii) = -Da(mf,ii)-DYss(mf,ii);
|
||||
Da(:,ii) = DT(:,:,ii)*(a+K*v) + T*(Da(:,ii)+DK(:,:,ii)*v + K*Dv(:,ii));
|
||||
if t>=start
|
||||
DLIK(ii,1) = DLIK(ii,1) + trace( iF*DF(:,:,ii) ) + 2*Dv(:,ii)'*iF*v - v'*(iF*DF(:,:,ii)*iF)*v;
|
||||
end
|
||||
end
|
||||
a = T*(a+K*v);
|
||||
P = T*(P-K*P(mf,:))*transpose(T)+Om;
|
||||
DP = DP1;
|
||||
end
|
||||
notsteady = max(max(abs(K-oldK))) > riccati_tol;
|
||||
oldK = K;
|
||||
end
|
||||
|
||||
if F_singular
|
||||
error('The variance of the forecast error remains singular until the end of the sample')
|
||||
end
|
||||
|
||||
for ii = 1:k
|
||||
tmp0(:,:,ii) = iF*DF(:,:,ii)*iF;
|
||||
end
|
||||
|
||||
if t < smpl
|
||||
t0 = t+1;
|
||||
while t < smpl
|
||||
t = t+1;
|
||||
v = Y(:,t)-a(mf);
|
||||
for ii = 1:k
|
||||
Dv(:,ii) = -Da(mf,ii)-DYss(mf,ii);
|
||||
Da(:,ii) = DT(:,:,ii)*(a+K*v) + T*(Da(:,ii)+DK(:,:,ii)*v + K*Dv(:,ii));
|
||||
if t>=start
|
||||
DLIK(ii,1) = DLIK(ii,1) + trace( iF*DF(:,:,ii) ) + 2*Dv(:,ii)'*iF*v - v'*(iF*DF(:,:,ii)*iF)*v;
|
||||
end
|
||||
end
|
||||
a = T*(a+K*v);
|
||||
end
|
||||
for ii = 1:k
|
||||
% DLIK(ii,1) = DLIK(ii,1) + (smpl-t0+1)*trace( iF*DF(:,:,ii) );
|
||||
end
|
||||
|
||||
end
|
||||
|
||||
DLIK = DLIK/2;
|
||||
|
||||
% end of main function
|
||||
|
||||
function [DK,DF,DP1] = computeDKalman(T,DT,DOm,P,DP,DH,mf,iF,K)
|
||||
|
||||
k = size(DT,3);
|
||||
tmp = P-K*P(mf,:);
|
||||
|
||||
for ii = 1:k
|
||||
DF(:,:,ii) = DP(mf,mf,ii) + DH(:,:,ii);
|
||||
DiF(:,:,ii) = -iF*DF(:,:,ii)*iF;
|
||||
DK(:,:,ii) = DP(:,mf,ii)*iF + P(:,mf)*DiF(:,:,ii);
|
||||
Dtmp = DP(:,:,ii) - DK(:,:,ii)*P(mf,:) - K*DP(mf,:,ii);
|
||||
DP1(:,:,ii) = DT(:,:,ii)*tmp*T' + T*Dtmp*T' + T*tmp*DT(:,:,ii)' + DOm(:,:,ii);
|
||||
end
|
||||
|
||||
% end of computeDKalman
|
Loading…
Reference in New Issue