Created by Knut M. Synstadfrom the Noun Project

Continuous Time Markov Chain

Construction

Recalling our Q-Matrix QQ. We can construct our CTMC using the following intuition. Given a continuous time-process {Xt:t0}\{X_{t}:t\ge0\} once XtX_{t} enters the state ii, we start a clock Ci,j\mathcal{C}^{i,j} for each state jij\not=i. These clocks are independent and Ci,j\mboxExp(qij)\mathcal{C}^{i,j}\sim\mbox{Exp}(q_{ij}). If the kthk^{th} clock expires first then the process jumps to state kk. Now we can denote K=argminjiCi,j, C=infjiCi,j\begin{align*} K=\arg\min_{j\not=i}\mathcal{C}^{i,j}, \ \mathcal{C}=\inf_{j\not=i}\mathcal{C}^{i,j} \end{align*}We know that C\mboxExp(νi), P(K=k)=qikνi\mathcal{C}\sim\mbox{Exp}(\nu_{i}), \ P(K=k)=\frac{q_{ik}}{\nu_{i}}and C ⁣ ⁣ ⁣K\mathcal{C}\perp\!\!\!\perp K, i.e. C\mathcal{C} represents the shortest timer length or the time taken to leave state ii, while KK is the first timer to ring.

Developing the idea further

For a continuous-time MC we need to define some initial distribution λ\lambda and a Q-Matrix QQ of the state space II. Let us define the following: {Tn:n1}iid\mboxExp(1){Yn:n0}\mboxMarkov(λ,Π)\begin{align*} \{T_{n}:n\ge1\}&\stackrel{iid}\sim\mbox{Exp}(1)\\\{Y_{n}:n\ge0\}&\sim\mbox{Markov}(\lambda,\Pi) \end{align*}where YiY_{i} is the jump chain for XtX_{t} and Π\Pi is the transition matrix associated with QQ. Then for n1n\ge1 we define the holding times to be Sn=Tnν(Yn1)S_{n}=\frac{T_{n}}{\nu(Y_{n-1})}where ν(Yn1)=νYn1\nu(Y_{n-1})=\nu_{Y_{n-1}}. Conditional on {Yn1=i}\{Y_{n-1}=i\} we have that Sn\mboxExp(νi)S_{n}\sim\mbox{Exp}(\nu_{i}). Now let our jump times be defined as J0=0J_{0}=0 and Jn=k=1nSkJ_{n}=\sum\limits_{k=1}^{n}S_{k}. Then for t0t\ge0, Xt={YnJnt<Jn+1\mboxotherwiseX_{t}=\begin{cases}Y_{n}&J_{n}\le t<J_{n+1}\\\infty&\mbox{otherwise} \end{cases} >[!def] Markov Process — continuous time >Assume the Q-Matrix is non-explosive, i.e. Pi(n=1Tnν(Yn1)=)=1P_{i}\left(\sum\limits_{n=1}^{\infty} \frac{T_{n}}{\nu(Y_{n-1})}=\infty\right)=1 We will refer to {Xt:t0}\{X_{t}:t\ge0\} as a continuous-time Markov chain with the initial distribution λ\lambda and generator QQ, and write {Xt:t0}\mboxMarkov(λ,Q)\{X_{t}:t\ge0\}\sim\mbox{Markov}(\lambda,Q)QQ is called the generator of {Xt:t0}\{X_{t}:t\ge0\}.

Theorem (Sufficient Condition for Non-Explosiveness)

Let QQ be a Q-Matrix over the state space II. Then QQ is non-explosive if any of the following holds

  1. supiIνi<\sup_{i\in I}\nu_{i}<\infty
  2. For each iIi\in I, ii is recurrent for the jump chain.

Remark

First condition trivially holds true if II is finite.

Transition probabilities

Definition (Transition probabilities)

Let {Xt:t0}\{X_{t}: t\ge0\} be a CTMC with the generator QQ. For i,jIi,j\in I and t0t\ge0 pij(t)=Pi(Xt=j)p_{ij}(t)=P_{i}(X_{t}=j)Denote P(t)={pij(t):i,jI}P(t)=\{p_{ij}(t):i,j\in I\} for t0t\ge0.

Theorem (Semi-Group Property)

For t,s>0t,s>0, P(t+s)=P(t)P(s)P(t+s)=P(t)P(s)this is because Pi(Xt+s=j)=kIPi(Xt=k,Xt+s=j)=kIPi,k(t)Pk,j(s)P_{i}(X_{t+s}=j)=\sum\limits_{k\in I}P_{i}(X_{t}=k,X_{t+s}=j)=\sum\limits_{k\in I}P_{i,k}(t)P_{k,j}(s)

Theorem (Rate of Transitions)

Let {Xt:t0}\{X_{t}:t\ge0\} be CTMC with the generator QQ. Then for any t0t\ge0 as h0h\downarrow0, P(Xt+h=jXt=i)=δi,j+Qi,jh+o(h)P(X_{t+h}=j|X_{t}=i)=\delta_{i,j}+Q_{i,j}h+o(h)or P(Xt+h=jXt=i)={Qi,jh+o(h)ji1νih+o(h)j=iP(X_{t+h}=j|X_{t}=i)=\begin{cases} Q_{i,j}h+o(h)&j\not=i\\1-\nu_{i}h+o(h)&j=i \end{cases}

Theorem (Forward & Backward Equations)

Forward Equations: P(t)=P(t)Q; P(0)=\mboxIdentityP'(t)=P(t)Q; \ P(0)=\mbox{Identity} Backward Equations: P(t)=QP(t); P(0)=\mboxIdentityP'(t)=QP(t); \ P(0)=\mbox{Identity}

Lemma (Discrete Exponential is Geometric)

Let N\mboxGeometric(α)N\sim\mbox{Geometric}(\alpha) be a geometric RV, and ζ1,ζ2\mboxExp(λ)\zeta_{1},\zeta_{2}\ldots\sim\mbox{Exp}(\lambda). Assume they are independent. Then T=i=1Nζi\mboxExp(αλ)T=\sum\limits_{i=1}^{N}\zeta_{i}\sim\mbox{Exp}(\alpha\lambda)

Theorem (Matrix Exponential Properties)

Let QQ be a Q-Matrix on a finite set II. Set P(t)=etQ=k=1(tQ)kk!P(t)=e^{tQ}=\sum\limits_{k=1}^{\infty}\frac{(tQ)^{k}}{k!}. Then (P(t):t0)(P(t):t\ge0) has the following properties:

  1. P(s+t)=P(s)P(t)P(s+t)=P(s)P(t) for all s,ts,t (i.e. )
  2. (P(t):t0)(P(t):t\ge0) is the unique solution to the forward equation ddtP(t)=P(t)Q, P(0)=I\frac{d}{dt}P(t)=P(t)Q, \ P(0)=I
  3. (P(t):t0)(P(t):t\ge0) is the unique solution to the backward equation ddtP(t)=QP(t), P(0)=I\frac{d}{dt}P(t)=QP(t), \ P(0)=I
  4. For k=0,1,2,,k=0,1,2,\ldots, we have (ddt)kt=0P(t)=Qk\left.{\left(\frac{d}{dt}\right)}^{k}\right|_{t=0}P(t)=Q^{k}

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