Advanced Probability

Perla Sousi∗
October 10, 2011

Contents
1 Conditional expectation 1
1.1 Discrete case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Existence and uniqueness . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1 Conditional expectation
Let (Ω, F , P) be a probability space, i.e. Ω is a set, F is a σ-algebra on Ω and P is a
probability measure on (Ω, F ).

Definition 1.1. F is a σ-algebra on Ω if it satisfies:

1. Ω ∈ F

2. If A ∈ F , then also the complement is in F , i.e.,Ac ∈ F .

3. If (An )n≥1 is a collection of sets in F , then ∪∞

n=1 An ∈ F .

Definition 1.2. P is a probability measure on (Ω, F ) if it satisfies:

1. P : F → [0, 1], i.e. it is a set function

2. P(Ω) = 1 and P(∅) = 0

P∞
3. If (An )n≥1 is a collection of pairwise disjoint sets in F , then P(∪∞
n=1 An ) = n=1 P(An ).

Let A, B ∈ F be two events with P(B) > 0. Then the conditional probability of A given
the event B is defined by
P(A ∩ B)
P(A|B) = .
P(B)
∗
University of Cambridge, Cambridge, UK; [email protected]

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Definition 1.3. The Borel σ-algebra, B(R), is the σ-algebra generated by the open sets in
R, i.e., it is the intersection of all σ-algebras containing the open sets of R. More formally,
let O be the open sets of R, then

B(R) = ∩{E : E is a σ-algebra containing O}.

Informally speaking, consider the open sets of R, do all possible operations, i.e., unions,
intersections, complements. and take the smallest σ-algebra that you get.

Definition 1.4. X is a random variable, i.e., a measurable function with respect to F ,

if X : Ω → R is a function with the property that for all open sets V the inverse image
X −1 (V ) ∈ F .

Remark 1.5. If X is a random variable, then the collection of sets

{B ⊆ R : X −1 (B) ∈ F }

is a σ-algebra (check!) and hence it must contain B(R).

Let A ∈ F . The indicator function 1(A) is defined via


1, if x ∈ A;
1(A)(x) = 1(x ∈ A) = 0, otherwise.

Recall the definition of expectation. First for positive simple random variables, i.e., linear
combinations of indicator random variables, we define
" n # n
X X
E ci 1(Ai ) := ci P(Ai ),
i=1 i=1

where ci are positive constants and Ai are measurable events. Next, let X be a positive
random variable. Then X is the increasing limit of positive simple variables. For example

Xn (ω) = 2−n ⌊2n X(ω)⌋ ∧ n ↑ X(ω) as n → ∞.

So we define
E[X] :=↑ lim E[Xn ].
Finally, for a general random variable X, we can write X = X + − X − , where X + =
max(X, 0) and X − = max(−X, 0) and we define

E[X] := E[X + ] − E[X − ],

if at least one of E[X + ], E[X − ] is finite. A random variable X is called integrable, if

E[|X|] < ∞.

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Let X be a random variable with E[|X|] < ∞. Let A be an event in F with P(A) > 0.
Then the conditional expectation of X given A is defined by

E[X 1(A)]
E[X|A] = ,
P(A)

Our goal is to extend the definition of conditional expectation to σ-algebras. So far we

only have defined it for events and it was a number. Now, the conditional expectation is
going to be a random variable, measurable with respect to the σ-algebra wrt which we are
conditioning.

1.1 Discrete case

Let X ∈ L1 . Let’s start with a σ-algebra which is generated by a countable family of
disjoint events (Bi )i∈I with ∪i Bi = Ω, i.e., G = σ(Bi , i ∈ I). It is easy to check that
G = {∪i∈J Bi : J ⊆ N}.
The natural thing to do is to define a new random variable X ′ = E[X|G] as follows
X
X′ = E[X|Bi ]1(Bi ).
i∈I

What does this mean? Let ω ∈ Ω. Then X ′ (ω) =

P
i∈I E[X|Bi ]1(ω ∈ Bi ). Note that we
use the convention that E[X|Bi ] = 0, if P(Bi ) = 0
It is very easy to check that

X ′ is G − measurable (1.1)

and integrable, since

X
E[|X ′ |] ≤ E|X 1(Bi )| = E[|X|] < ∞,
i∈I

since X ∈ L1 .
Let G ∈ G. Then it is straightforward to check that

E[X 1(G)] = E[X ′ 1(G)]. (1.2)

1.2 Existence and uniqueness

Before stating the existence and uniqueness theorem on conditional expectation, let us
quickly recall the notion of an event happening almost surely (a.s.), the Monotone conver-
gence theorem and Lp spaces.
Let A ∈ F . We will say that A happens a.s., if P(A) = 1.

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Theorem 1.6. [Monotone convergence theorem] Let (Xn )n be random variables such
that Xn ≥ 0 for all n and Xn ↑ X as n → ∞ a.s. Then

E[Xn ] ↑ E[X] as n → ∞.

Let p ∈ [1, ∞) and f a measurable function in (Ω, F , P). We define the norm

kf kp = (E[|f |p ])1/p

and we denote by Lp = Lp (Ω, F , P) the set of measurable functions f with kf kp < ∞. For
p = ∞, we let
kf k∞ = inf{λ : |f | ≤ λ a.e.}
and L∞ the set of measurable functions with kf k∞ < ∞.
Formally, Lp is the collection of equivalence classes, where two functions are equivalent if
they are equal almost everywhere (a.e.). In practice, we will represent an element of Lp by
a function, but remember that equality in Lp means equality a.e..

Theorem 1.7. The space (L2 , k · k2) is a Hilbert space with hf, gi = E[f g]. If H is a closed
subspace, then for all f ∈ L2 , there exists a unique (in the sense of a.e.) g ∈ H such that
kf − gk2 = inf h∈H kf − hk2 and hg, f − gi = 0.

Remark 1.8. We call g the orthogonal projection of f on H.

Theorem 1.9. Let X be an integrable random variable and let G ⊆ F be a σ-algebra.

Then there exists a random variable Y such that:

(a) Y is G-measurable;

(b) Y is integrable and E[X 1(A)] = E[Y 1(A)] for all A ∈ G.

Moreover, if Y ′ also satisfies (a) and (b), then Y = Y ′ a.s..

We call Y (a version of ) the conditional expectation of X given G and write Y = E[X|G]

a.s.. In the case G = σ(G) for some random variable G, we also write Y = E[X|G] a.s..

Remark 1.10. We could replace (b) in the statement of the theorem by requiring that for
all bounded G-measurable random variables Z we have

E[XZ] = E[Y Z].

Remark 1.11. In a later section we will show how to construct explicit versions of the
conditional expectation in certain simple cases. In general, we have to live with the indirect
approach provided by the theorem.

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Proof of Theorem 1.9. (Uniqueness.) Suppose that both Y and Y ′ satisfy (a) and (b).
Then, clearly the event A = {Y > Y ′ } ∈ G and by (b) we have

E[(Y − Y ′ )1(A)] = E[X 1(A)] − E[X 1(A)] = 0,

hence we get that Y ≤ Y ′ a.s. Similarly we can get Y ≥ Y ′ a.s.

(Existence.) We will prove existence in three steps.
1st step: Suppose that X ∈ L2 . The space L2 (Ω, F , P) with inner product defined by
hU, V i = E[UV ] is a Hilbert space by Theorem 1.7 and L2 (Ω, G, P) is a closed subspace.
(Remember that L2 convergence implies convergence in probability and convergence in prob-
ability implies convergence a.s. along a subsequence (see for instance [1, A13.2])).
Thus L2 (F ) = L2 (G)+L2 (G)⊥ , and hence, we can write X as X = Y +Z, where Y ∈ L2 (G)
and Z ∈ L2 (G)⊥ . If we now set Y = E[X|G], then (a) is clearly satisfied. Let A ∈ G. Then

E[X 1(A)] = E[Y 1(A)] + E[Z 1(A)] = E[Y 1(A)],

since E[Z 1(A)] = 0.

Note that from the above definition of conditional expectation for random variables in L2 ,
we get that

if X ≥ 0, then Y = E[X|G] ≥ 0 a.s., (1.3)

since note that {Y < 0} ∈ G and

E[X 1(Y < 0)] = E[Y 1(Y < 0)].

Notice that the left hand side is nonnegative, while the right hand side is non-positive,
implying that P(Y < 0) = 0.
2nd step: Suppose that X ≥ 0. For each n we define the random variables Xn = X ∧ n ≤
n, and hence Xn ∈ L2 . Thus from the first part of the existence proof we have that for
each n there exists a G-measurable random variable Yn satisfying for all A ∈ G

E[Yn 1(A)] = E[(X ∧ n)1(A)]. (1.4)

Since the sequence (Xn )n is increasing, from (1.3) we get that also (Yn )n is increasing. If we
now set Y =↑ limn→∞ Yn , then clearly Y is G-measurable and by the monotone convergence
theorem in (1.4) we get for all A ∈ G

E[Y 1(A)] = E[X 1(A)], (1.5)

since Xn ↑ X, as n → ∞.
In particular, if E[X] is finite, then E[Y ] is also finite.
3rd step: Finally, for a general random variable X ∈ L1 (not necessarily positive) we
can apply the above construction to X + = max(X, 0) and X − = max(−X, 0) and then
E[X|G] = E[X + |G] − E[X − |G] satisfies (a) and (b).

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Remark 1.12. Note that the 2nd step of the above proof gives that if X ≥ 0, then there
exists a G-measurable random variable Y such that

for all A ∈ G, E[X 1(A)] = E[Y 1(A)],

i.e., all the conditions of Theorem 1.9 are satisfied except for the integrability one.
Definition 1.13. Sub-σ-algebras G1 , G2 , . . . of F are called independent, if whenever Gi ∈
Gi (i ∈ N) and i1 , . . . , in are distinct, then
n
Y
P(Gi1 ∩ . . . ∩ Gin ) = P(Gik ).
k=1

When we say that a random variable X is independent of a σ-algebra G, it means that

σ(X) is independent of G.
The following properties are immediate consequences of Theorem 1.9 and its proof.
Proposition 1.14. Let X, Y ∈ L1 (Ω, F , P) and let G ⊂ F be a σ-algebra. Then
1. E [E[X|G]] = E[X]

2. If X is G-measurable, then E[X|G] = X a.s..

3. If X is independent of G, then E[X|G] = E[X] a.s..

4. If X ≥ 0, then E[X|G] ≥ 0 a.s..

5. For any α, β ∈ R we have E[αX + βY |G] = αE[X|G] + βE[Y |G] a.s..

6. |E[X|G]| ≤ E[|X||G] a.s..

The basic convergence theorems for expectation have counterparts for conditional expec-
tation. We first recall the theorems for expectation.
Theorem 1.15. [Fatou’s lemma] If Xn ≥ 0 for all n, then

E[lim inf Xn ] ≤ lim inf E[Xn ].

n n

Theorem 1.16. [Dominated convergence theorem] If Xn → X and |Xn | ≤ Y for all

n a.s., for some integrable random variable Y , then

E[Xn ] → E[X].

Theorem 1.17. [Jensen’s inequality] Let X be an integrable random variable and let
ϕ : R → R be a convex function. Then

E[ϕ(X)] ≥ ϕ(E[X]).

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Proposition 1.18. Let G ⊂ F be a σ-algebra and let X ∈ L1 (Ω, F , P).
1. Conditional monotone convergence theorem: If (Xn )n≥0 is an increasing se-
quence of nonnegative random variables with a.s. limit X, then
E[Xn |G] ր E[X|G] as n → ∞, a.s..

2. Conditional Fatou’s lemma: If Xn ≥ 0 for all n, then

h i
E lim inf Xn |G ≤ lim inf E[Xn |G] a.s..
n→∞ n→∞

3. Conditional dominated convergence theorem: If Xn → X and |Xn | ≤ Y for

all n a.s., for some integrable random variable Y , then
lim E[Xn |G] = E[X|G] a.s..
n→∞

4. Conditional Jensen’s inequality: If X is integrable random and ϕ : R →

(−∞, ∞] is a convex function such that either ϕ(X) is integrable or ϕ is non-negative,
then
E[ϕ(X)|G] ≥ ϕ(E[X|G]) a.s..
In particular, for all 1 ≤ p < ∞
kE[X|G]kp ≤ kXkp .

Proof. 1. Since Xn ր X as n → ∞, we have that E[Xn |G] is an increasing sequence.

Let Y = limn→∞ E[Xn |G]. We want to show that Y = E[X|G] a.s.. Clearly Y
is G-measurable, as an a.s. limit of G-measurable random variables. Also, by the
monotone convergence theorem we have
E[X 1(A)] = lim E[Xn 1(A)] = lim E[E[Xn |G]1(A)] = E[Y 1(A)].
n→∞ n→∞

2. The sequence inf k≥n Xk is increasing in n and limn→∞ inf k≥n Xk = lim inf n→∞ Xn .
Thus, by the conditional monotone convergence theorem we get
lim E[inf Xk |G] = E[lim inf Xn |G].
n→∞ k≥n n→∞

Clearly, E[inf k≥n Xk |G] ≤ inf k≥n E[Xk |G]. Passing to the limit gives the desired
inequality.
3. Since Xn +Y and Y −Xn are positive random variables for all n, applying conditional
Fatou’s lemma we get
E[X + Y |G] = E[lim inf(Xn + Y )|G] ≤ lim inf E[Xn + Y |G] and
n→∞
E[Y − X|G] = E[lim inf(Y − Xn )|G] ≤ lim inf E[Y − Xn |G].
n→∞

Hence, we obtain that

lim inf E[Xn |G] ≥ E[X|G] and lim sup E[Xn |G] ≤ E[X|G].
n→∞ n→∞

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 4. A convex function is the supremum of countably many affine functions: (see for
instance [1, §6.6])
ϕ(x) = sup(ai x + bi ), x ∈ R.
i

So for all i we have E[ϕ(X)|G] ≥ ai E[X|G] + bi a.s. Now using the fact that the
supremum is over a countable set we get that

E[ϕ(X)|G] ≥ sup(ai E[X|G] + bi ) = ϕ(E[X|G]) a.s.

i

In particular, for 1 ≤ p < ∞,

kE[X|G]kpp = E[|E[X|G]|p ] ≤ E[E[|X|p |G]] = E[|X|p ] = kXkpp .

References
[1] David Williams. Probability with martingales. Cambridge Mathematical Textbooks.
Cambridge University Press, Cambridge, 1991.