A Kalman filter for application to stationary or non-stationary time series is proposed. A major feature is a new initialisation method to accommodate non-stationary time series. The filter works on time series with missing values at any point of time including the initialisation phase. It can...

A Kalman filter for application to stationary or non-stationary time series is proposed. A major feature is a new initialisation method to accommodate non-stationary time series. The filter works on time series with missing values at any point of time including the initialisation phase. It can...

Automatic forecasts of large numbers of univariate time series are often needed in business and other contexts. We describe two automatic forecasting algorithms that have been implemented in the forecast package for R. The first is based on innovations state space models that underly exponential...

The Theta method of forecasting performed particularly well in the M3-competition and is therefore of interest to forecast practitioners. The description of the method given by Assimakopoulos and Nikolopoulos (2000) involves several pages of algebraic manipulation and is difficult to comprehend....

In the exponential smoothing approach to forecasting, restrictions are often imposed on the smoothing parameters which ensure that certain components are exponentially weighted averages. In this paper, a new general restriction is derived on the basis that the one-step ahead prediction error can...

In this article we discuss invertibility conditions for some state space models, including the models that underly simple exponential smoothing, Holt's linear method, Holt-Winters' additive method and damped trend versions of Holt's and Holt-Winters' methods. The parameter space for which the...

A new automatic forecasting procedure is proposed based on a recent exponential smoothing framework which incorporates a Box-Cox transformation and ARMA residual corrections. The procedure is complete with well-defined methods for initialization, estimation, likelihood evaluation, and analytical...

We consider the properties of nonlinear exponential smoothing state space models under various assumptions about the innovations, or error, process. Our interest is restricted to those models that are used to describe non-negative observations, because many series of practical interest are so...

This paper discusses the instability of eleven nonlinear state space models that underly exponential smoothing. Hyndman et al. (2002) proposed a framework of 24 state space models for exponential smoothing, including the well-known simple exponential smoothing, Holt's linear and Holt-Winters'...

Damped trend exponential smoothing has previously been established as an important forecasting method. Here, it is shown to have close links to simple exponential smoothing with a smoothed error tracking signal. A special case of damped trend exponential smoothing emerges from our analysis, one...