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#' Holt's Two-parameter Exponential Smoothing
#' @description Performs Holt's two-parameter exponential smoothing for linear
#' trend or damped trend.
#' @param x a numeric vector or univariate time series.
#' @param type the type of interaction between the level and the linear trend. See
#' details.
#' @param alpha the parameter for the level smoothing. The default is \code{0.2}.
#' @param beta the parameter for the trend smoothing. The default is \code{0.1057}.
#' @param lead the number of steps ahead for which prediction is required.
#' The default is \code{0}.
#' @param damped a logical value indicating a damped trend. See details. The default is
#' \code{FALSE}.
#' @param phi a smoothing parameter for damped trend. The default is \code{0.98}, only valid
#' for \code{damped = TRUE}.
#' @param plot a logical value indicating to print the plot of original data v.s smoothed
#' data. The default is \code{TRUE}.
#' @details Holt's two parameter is used to forecast a time series with trend, but
#' wihtout seasonal pattern. For the additive model (\code{type = "additive"}), the
#' \eqn{h}-step-ahead forecast is given by \eqn{hat{x}[t+h|t] = level[t] + h*b[t]},
#' where
#' \deqn{level[t] = \alpha *x[t] + (1-\alpha)*(b[t-1] + level[t-1]),}
#' \deqn{b[t] = \beta*(level[t] - level[t-1]) + (1-\beta)*b[t-1],}
#' in which \eqn{b[t]} is the trend component.
#' For the multiplicative (\code{type = "multiplicative"}) model, the
#' \eqn{h}-step-ahead forecast is given by \eqn{hat{x}[t+h|t] = level[t] + h*b[t]},
#' where
#' \deqn{level[t] = \alpha *x[t] + (1-\alpha)*(b[t-1] * level[t-1]),}
#' \deqn{b[t] = \beta*(level[t] / level[t-1]) + (1-\beta)*b[t-1].}
#'
#' Compared with the Holt's linear trend that displays a constant increasing or
#' decreasing, the damped trend generated by exponential smoothing method shows a
#' exponential growth or decline, which is a situation between simple exponential
#' smoothing (with 0 increasing or decreasing rate) and Holt's two-parameter smoothing.
#' If \code{damped = TRUE}, the additive model becomes
#' \deqn{hat{x}[t+h|t] = level[t] + (\phi + \phi^{2} + ... + \phi^{h})*b[t],}
#' \deqn{level[t] = \alpha *x[t] + (1-\alpha)*(\phi*b[t-1] + level[t-1]),}
#' \deqn{b[t] = \beta*(level[t] - level[t-1]) + (1-\beta)*\phi*b[t-1].}
#' The multiplicative model becomes
#' \deqn{hat{x}[t+h|t] = level[t] *b[t]^(\phi + \phi^{2} + ... + \phi^{h}),}
#' \deqn{level[t] = \alpha *x[t] + (1-\alpha)*(b[t-1]^{\phi} * level[t-1]),}
#' \deqn{b[t] = \beta*(level[t] / level[t-1]) + (1-\beta)*b[t-1]^{\phi}.}
#' See Chapter 7.4 for more details in R. J. Hyndman and G. Athanasopoulos (2013).
#' @note Missing values are removed before analysis.
#' @return A list with class "\code{Holt}" containing the following components:
#' \item{estimate}{the estimate values.}
#' \item{alpha}{the smoothing parameter used for level.}
#' \item{beta}{the smoothing parameter used for trend.}
#' \item{phi}{the smoothing parameter used for damped trend.}
#' \item{pred}{the predicted values, only available for \code{lead} > 0.}
#' \item{accurate}{the accurate measurements.}
#' @author Debin Qiu
#' @references R. J. Hyndman and G. Athanasopoulos, "Forecasting: principles and
#' practice," 2013. [Online]. Available: \url{http://otexts.org/fpp/}.
#' @seealso \code{\link{HoltWinters}}, \code{\link{expsmooth}}, \code{\link{Winters}}
#' @examples x <- (1:100)/100
#' y <- 2 + 1.2*x + rnorm(100)
#'
#' ho0 <- Holt(y) # with additive interaction
#' ho1 <- Holt(y,damped = TRUE) # with damped trend
#'
#' # multiplicative model for AirPassengers data,
#' # although seasonal pattern exists.
#' ho2 <- Holt(AirPassengers,type = "multiplicative")
#' @importFrom stats is.ts
#' @importFrom stats ts
#' @importFrom graphics plot
#' @importFrom graphics lines
#' @export
Holt <- function(x,type = c("additive","multiplicative"),
alpha = 0.2,beta = 0.1057,lead = 0,
damped = FALSE,phi = 0.98,plot = TRUE)
{
if (NCOL(x) > 1)
stop("'x' must be a numeric vector or univariate time series ")
if (any(c(alpha,beta) > 1) || any(c(alpha,beta) < 0))
stop("'alpha' or 'beta' must be between 0 and 1")
if (phi > 1 || phi < 0)
stop("'phi' must be between 0 and 1")
type <- match.arg(type)
if (any(!is.finite(x)))
warning(paste("missing values exist at time",which(!is.finite(x)),
"and will be removed."))
if (is.ts(x))
x <- ts(x[is.finite(x)],start = time(x)[1],frequency = frequency(x))
else
x <- x[is.finite(x)]
n <- length(x)
if (n < 1L)
stop("invalid length of 'x'")
level <- c(x[1],numeric(n-1))
trend <- numeric(n)
trend[1] <- switch(type,additive = (x[n] - x[1])/n,
multiplicative = x[2]/x[1])
x.hat <- c(x[1],numeric(n-1))
phi <- ifelse(damped,phi,1)
for (i in 2:n) {
if (type == "additive") {
level[i] <- alpha*x[i] + (1 - alpha)*(level[i-1] + phi*trend[i-1])
trend[i] <- beta*(level[i] - level[i-1]) + (1 - beta)*phi*trend[i-1]
x.hat[i] <- level[i-1] + phi*trend[i-1]
}
else {
level[i] <- alpha*x[i] + (1 - alpha)*(level[i-1] * trend[i-1]^phi)
trend[i] <- beta*(level[i] / level[i-1]) + (1 - beta)*trend[i-1]^phi
x.hat[i] <- level[i-1] * trend[i-1]^phi
}
}
if (is.ts(x))
x.hat <- ts(x.hat,start = time(x)[1],frequency = frequency(x))
result <- list(estimate = x.hat,alpha = alpha, beta = beta)
if (lead > 0) {
if (lead < 0 || lead%%1 != 0)
stop("'lead' must be a positive integer")
l.s <- 1:lead
x.pred <- switch(type, additive = level[n] + cumsum(phi^l.s)*trend[n],
multiplicative = level[n] + trend[n]^(cumsum(phi^l.s)))
names(x.pred) <- n + 1:lead
result <- c(result,list(phi = phi, pred = x.pred))
}
if (plot) {
plot(x,main = "original v.s smoothed data",type = "l")
lines(x.hat,col = 2)
}
k <- ifelse(damped,3,2)
result <- c(result,list(accurate = accurate(x,x.hat,k,output = FALSE)))
class(result) <- "Holt"
return(result)
}
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