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Unformatted text preview: Lecture Notes 6 Random Vectors Joint, Marginal, and Conditional CDF, PDF, PMF Independence and Conditional Independence Mean and Covariance Matrix Mean and Variance of Sum of RVs Gaussian Random Vectors MSE Estimation: the Vector Case EE 278: Random Vectors 6 1 Specifying Random Vectors Let X 1 , X 2 , . . . , X n be random variables on the same probability space. We define a random vector (RV) as X = X 1 X 2 . . . X n X is completely specified by its joint cdf for x = ( x 1 , x 2 , . . . , x n ) : F X ( x ) = P { X 1 x 1 , X 2 x 2 , . . . , X n x n } , x R n If X is continuous, i.e., F X ( x ) is a continuous function of x , then X can be specified by its joint pdf: f X ( x ) = f X 1 ,X 2 ,...,X n ( x 1 , x 2 , . . . , x n ) , x R n If X is discrete then it can be specified by its joint pmf: p X ( x ) = p X 1 ,X 2 ,...,X n ( x 1 , x 2 , . . . , x n ) , x X n EE 278: Random Vectors 6 2 A marginal cdf (pdf, pmf) is the joint cdf (pdf, pmf) for a subset of { X 1 , . . . , X n } ; e.g., for X = X 1 X 2 X 3 the marginals are f X 1 ( x 1 ) , f X 2 ( x 2 ) , f X 3 ( x 3 ) f X 1 ,X 2 ( x 1 , x 2 ) , f X 1 ,X 3 ( x 1 , x 3 ) , f X 2 ,X 3 ( x 2 , x 3 ) The marginals can be obtained from the joint in the usual way. For the previous example, F X 1 ( x 1 ) = lim x 2 ,x 3 F X ( x 1 , x 2 , x 3 ) f X 1 ,X 2 ( x 1 , x 2 ) =  f X 1 ,X 2 ,X 3 ( x 1 , x 2 , x 3 ) dx 3 EE 278: Random Vectors 6 3 Conditional cdf (pdf, pmf) can also be defined in the usual way. E.g., the conditional pdf of X n k +1 = ( X k +1 , . . . , X n ) given X k = ( X 1 , . . . , X k ) is f X n k +1  X k ( x n k +1  x k ) = f X ( x 1 , x 2 , . . . , x n ) f X k ( x 1 , x 2 , . . . , x k ) = f X ( x ) f X k ( x k ) Chain Rule : We can write f X ( x ) = f X 1 ( x 1 ) f X 2  X 1 ( x 2  x 1 ) f X 3  X 1 ,X 2 ( x 3  x 1 , x 2 ) f X n  X n 1 ( x n  x n 1 ) Proof: By induction. The chain rule holds for n = 2 by definition of conditional pdf. Now suppose it is true for n 1 . Then f X ( x ) = f X n 1 ( x n 1 ) f X n  X n 1 ( x n  x n 1 ) = f X 1 ( x 1 ) f X 2  X 1 ( x 2  x 1 ) f X n 1  X n 2 ( x n 1  x n 2 ) f X n  X n 1 ( x n  x n 1 ) , which completes the proof EE 278: Random Vectors 6 4 Independence and Conditional Independence Independence is defined in the usual way; e.g., X 1 , X 2 , . . . , X n are independent if f X ( x ) = n i =1 f X i ( x i ) for all ( x 1 , . . . , x n ) Important special case, i.i.d. r.v.s : X 1 , X 2 , . . . , X n are said to be independent, identically distributed (i.i.d.) if they are independent and have the same marginals Example: if we flip a coin n times independently, we generate i.i.d. Bern( p ) r.v.s. X 1 , X 2 , . . . , X n R.v.s X 1 and X 3 are said to be conditionally independent given X 2 if f X 1 ,X 3  X 2 ( x 1 , x 3  x 2 ) = f X 1  X 2 ( x 1 ...
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 Fall '09
 BalajiPrabhakar
 Signal Processing

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