Changing the Measure, Not the Path
Every object this track has built lives on a fixed probability space. The
Brownian motion
was constructed on one, the stochastic integrals and diffusions were built over it,
and every law, every expectation, every almost-sure statement so far has been read
against a single measure \(\mathbb{P}\), fixed at the start and never questioned.
This page makes the measure itself the variable.
Here is the motivating computation. Let \(\mathbf{w}_t\) be an \(n\)-dimensional
Brownian motion under \(\mathbb{P}\), let \(\mathbf{a}(t, \omega)\) be an adapted
process, and consider
\[
\mathbf{Y}_t = \int_0^t \mathbf{a}(s, \omega)\, ds + \mathbf{w}_t .
\]
Under \(\mathbb{P}\), the process \(\mathbf{Y}\) is not a Brownian motion. Its
increments carry the drift. The question of this page is whether some other
probability measure \(\mathbb{Q}\), defined on the same space and the same
\(\sigma\)-algebra, sees \(\mathbf{Y}\) as a Brownian motion. Nothing happens to
the paths. Each outcome \(\omega\) traces exactly the curve it always did. What
changes is the weight each bundle of curves receives, and the claim will be that
a suitable reweighting makes the drift statistically invisible.
Half of this story was settled long ago. The
Radon-Nikodym theorem
guarantees that whenever one measure is
absolutely continuous
with respect to another, a density connecting them exists. That was an abstract
existence theorem, and it was proved with no hint of which measures would one day
matter. Girsanov's theorem is the payoff. For the change of measure that removes
a drift, the density is not merely shown to exist but written down in closed
form, as an explicit exponential functional of the drift itself.
Before any of that, there is a certification problem. Suppose a candidate
\(\mathbb{Q}\) is placed on the table. To declare \(\mathbf{Y}\) a Brownian
motion under \(\mathbb{Q}\), we must verify the defining properties against a
measure given only through a density, where Gaussianity of increments is nothing
like immediate. What saves the day is a characterization of Brownian motion that
replaces distributional demands with martingale demands. We state it without
proof.
Theorem: The Lévy Characterization of Brownian Motion
Fix \(T \in (0, \infty]\), let \(\{\mathcal{N}_t\}_{0 \leq t \leq T}\) be
a filtration on a probability space carrying a measure \(\mathbb{Q}\),
and let \(\mathbf{X}_t = (X_t^{(1)}, \ldots, X_t^{(n)})\), for
\(0 \leq t \leq T\), be a continuous \(\{\mathcal{N}_t\}\)-adapted
process with values in \(\mathbb{R}^n\) and
\(\mathbf{X}_0 = \mathbf{0}\). Suppose that, with respect to
\(\{\mathcal{N}_t\}\) and \(\mathbb{Q}\),
(i) each component \(X_t^{(i)}\) is a
martingale,
and
(ii) each product process \(X_t^{(i)} X_t^{(j)} - \delta_{ij}\, t\) is a
martingale, for all \(i, j \in \{1, \ldots, n\}\).
Then \(\mathbf{X}\) is an \(n\)-dimensional Brownian motion relative to
\(\{\mathcal{N}_t\}\) under \(\mathbb{Q}\), that is, its law is the law of an
\(n\)-dimensional standard
Brownian motion
started at the origin, restricted to the time interval \([0, T]\), and
for all \(0 \leq s \leq t \leq T\) the increment
\(\mathbf{X}_t - \mathbf{X}_s\) is independent of \(\mathcal{N}_s\).
We take this theorem on faith. Its proof belongs to the general theory of
continuous martingales, which builds a stochastic calculus for martingales at
large rather than for Brownian motion alone, and that machinery lies outside
what this track has constructed.
Still, the statement rewards a careful reading. Condition (i) says each
coordinate plays a fair game. Condition (ii) says the products
\(X^{(i)} X^{(j)}\), once corrected by \(\delta_{ij}\, t\), play fair games
too, which is exactly the mean structure Brownian coordinates display. Distinct
coordinates are uncorrelated at the level of conditional increments, and each
coordinate accumulates variance at unit rate. The force of the theorem is that
these two statements about conditional means already pin down the entire law of
the process, Gaussianity included, and even force each increment to forget the
whole of \(\mathcal{N}_s\), not merely the past of \(\mathbf{X}\) itself. That
last clause is the one the
weak solutions built from this theorem
will rely on, and it is why the theorem is stated relative to an arbitrary ambient
filtration.
The Density Process
The proof of Girsanov's theorem juggles two measures at once. Martingale
properties must be verified under \(\mathbb{Q}\), but every computational tool
we own, the Itô calculus above all, speaks the language of \(\mathbb{P}\).
Two pieces of pure measure theory bridge the gap. The first converts
conditional expectations under one measure into conditional expectations under
the other. The second shows that a density prescribed at a terminal time
interacts coherently with all earlier times, and that the family of restricted
densities is itself a martingale.
Lemma: Bayes' Rule for a Change of Measure
Let \((\Omega, \mathcal{G})\) be a measurable space and let \(\mu\) and
\(\nu\) be probability measures on it with \(d\nu = f\, d\mu\), meaning
\[
\nu(A) = \int_A f\, d\mu
\quad \text{for every } A \in \mathcal{G},
\]
for some non-negative \(f \in L^1(\mu)\). Let
\(\mathcal{H} \subseteq \mathcal{G}\) be a sub-\(\sigma\)-algebra and let
\(X\) be a random variable with \(\mathbb{E}_\nu[|X|] \lt \infty\). Then
\[
\mathbb{E}_\nu[X \mid \mathcal{H}] \cdot \mathbb{E}_\mu[f \mid \mathcal{H}]
= \mathbb{E}_\mu[f X \mid \mathcal{H}]
\quad \mu\text{-a.s.},
\]
and the identity holds for every choice of versions of the conditional
expectations involved.
Proof.
Step 0 (Integrals against \(\nu\) and against \(f\, d\mu\)
agree).
For a non-negative measurable \(g\), the identity
\(\int g\, d\nu = \int g f\, d\mu\) holds: it is the hypothesis when \(g\)
is an indicator, extends to simple functions by linearity, and passes to
arbitrary non-negative \(g\) by taking monotone limits of simple functions
on both sides. Splitting an integrable \(g\) into positive and negative
parts extends it to all of \(L^1(\nu)\). In particular
\(\mathbb{E}_\mu[f |X|] = \mathbb{E}_\nu[|X|] \lt \infty\), so
\(\mathbb{E}_\mu[f X \mid \mathcal{H}]\) is defined.
Step 1 (The left side satisfies the defining property of the right
side).
Write \(W = \mathbb{E}_\nu[X \mid \mathcal{H}] \cdot
\mathbb{E}_\mu[f \mid \mathcal{H}]\), a product of
\(\mathcal{H}\)-measurable random variables and hence
\(\mathcal{H}\)-measurable. Fix \(H \in \mathcal{H}\). The random variable
\(Z = \mathbf{1}_H\, \mathbb{E}_\nu[X \mid \mathcal{H}]\) is
\(\mathcal{H}\)-measurable, and \(Z f \in L^1(\mu)\), because
conditional Jensen
applied under \(\nu\) with the convex function \(|\cdot|\), followed by the
tower property
under \(\nu\), gives
\[
\mathbb{E}_\mu\bigl[ |Z| f \bigr]
\leq \mathbb{E}_\nu\bigl[ \bigl| \mathbb{E}_\nu[X \mid \mathcal{H}] \bigr| \bigr]
\leq \mathbb{E}_\nu\bigl[ \mathbb{E}_\nu[\, |X| \mid \mathcal{H}] \bigr]
= \mathbb{E}_\nu[|X|] \lt \infty ,
\]
where the first inequality is Step 0 applied to
\(|Z| = |Z| \cdot 1\). By
take-out
under \(\mu\), \(\mathbb{E}_\mu[Z f \mid \mathcal{H}] = Z\,
\mathbb{E}_\mu[f \mid \mathcal{H}] = \mathbf{1}_H W\), and taking total
expectations,
\[
\begin{align*}
\int_H W\, d\mu
&= \mathbb{E}_\mu\bigl[ \mathbb{E}_\mu[ Z f \mid \mathcal{H}] \bigr]
= \mathbb{E}_\mu[ Z f ]
= \int_H \mathbb{E}_\nu[X \mid \mathcal{H}]\, f\, d\mu \\\\
&= \int_H \mathbb{E}_\nu[X \mid \mathcal{H}]\, d\nu
= \int_H X\, d\nu
= \int_H X f\, d\mu
= \int_H f X\, d\mu ,
\end{align*}
\]
where the second line uses Step 0 twice and, in its middle equality, the
defining property
of \(\mathbb{E}_\nu[X \mid \mathcal{H}]\) with the set
\(H \in \mathcal{H}\). Running the same chain with \(|X|\) in place of
\(X\) shows that the \(\mathcal{H}\)-measurable random variable
\(\mathbb{E}_\nu[\,|X| \mid \mathcal{H}] \cdot \mathbb{E}_\mu[f \mid \mathcal{H}]\)
has \(\mu\)-integral \(\mathbb{E}_\nu[|X|] \lt \infty\), and it dominates
\(|W|\) \(\mu\)-almost everywhere. Conditional Jensen under \(\nu\)
gives the domination off a \(\nu\)-null exceptional set, which may be
taken in \(\mathcal{H}\) since both sides are
\(\mathcal{H}\)-measurable, and on that set the factor
\(\mathbb{E}_\mu[f \mid \mathcal{H}]\), non-negative by
monotonicity,
integrates to the \(\nu\)-measure zero of the set and so vanishes
\(\mu\)-a.e. there, making both sides zero.
So \(W\) is \(\mu\)-integrable, \(\mathcal{H}\)-measurable, and integrates
to \(\int_H f X\, d\mu\) over every \(H \in \mathcal{H}\). These are
exactly the properties that characterize
\(\mathbb{E}_\mu[f X \mid \mathcal{H}]\) up to \(\mu\)-null modification,
and the identity follows.
Step 2 (The version does not matter).
Two versions of \(\mathbb{E}_\nu[X \mid \mathcal{H}]\) differ only on a
\(\nu\)-null set \(H_0 \in \mathcal{H}\). On such a set,
\(\int_{H_0} \mathbb{E}_\mu[f \mid \mathcal{H}]\, d\mu = \nu(H_0) = 0\)
by the defining property, and since the integrand is non-negative it
vanishes \(\mu\)-a.e. on \(H_0\). The product \(W\) is therefore unchanged
\(\mu\)-a.s. when the version changes, and the same argument applies to
versions of the two remaining conditional expectations, whose exceptional
sets are already \(\mu\)-null.
The lemma has a plain reading. To condition under the new measure, condition
under the old measure after weighting by the density, then normalize by the
conditioned density. The structure is that of a Bayes update, with \(f\) in the
role of a likelihood, and this is no coincidence. The same algebra runs the
posterior computations of earlier probability pages, here transplanted from
distributions on \(\mathbb{R}^n\) to measures on an abstract space.
The second preparation concerns time. Girsanov's change of measure will be
prescribed by a density at a fixed horizon \(T\). Yet martingale statements
involve every intermediate time, so we must understand how a horizon-\(T\)
density restricts to the information available at earlier times.
Lemma: The Density Process
Fix \(T \gt 0\). Let \(\{\mathcal{M}_t\}_{t \in [0, T]}\) be a filtration
on a measurable space \((\Omega, \mathcal{G})\) with
\(\mathcal{M}_T \subseteq \mathcal{G}\), and let \(\mathbb{P}\) and
\(\mathbb{Q}\) be probability measures on \(\mathcal{G}\) whose
restrictions to \(\mathcal{M}_T\) satisfy
\(\mathbb{Q} \ll \mathbb{P}\) on \(\mathcal{M}_T\). Then for every
\(t \in [0, T]\), the restriction of \(\mathbb{Q}\) to \(\mathcal{M}_t\) is
absolutely continuous with respect to that of \(\mathbb{P}\), the density
\[
Z_t := \frac{d\bigl( \mathbb{Q}\big|_{\mathcal{M}_t} \bigr)}
{d\bigl( \mathbb{P}\big|_{\mathcal{M}_t} \bigr)}
\]
exists, and the process \(\{Z_t\}_{t \in [0, T]}\) is a
martingale
with respect to \(\{\mathcal{M}_t\}\) and \(\mathbb{P}\), with
\(Z_t = \mathbb{E}_{\mathbb{P}}[ Z_T \mid \mathcal{M}_t ]\) and
\(\mathbb{E}_{\mathbb{P}}[Z_t] = 1\) for every \(t\).
Proof.
Step 1 (Restriction preserves absolute continuity).
Let \(H \in \mathcal{M}_t\) with \(\mathbb{P}(H) = 0\). Since
\(\mathcal{M}_t \subseteq \mathcal{M}_T\), the set \(H\) lies in
\(\mathcal{M}_T\), where
absolute continuity
holds, so \(\mathbb{Q}(H) = 0\). Probability measures are finite, hence
\(\sigma\)-finite, so the
Radon-Nikodym theorem
applies on \((\Omega, \mathcal{M}_t)\) and delivers a non-negative
\(\mathcal{M}_t\)-measurable density \(Z_t\), unique up to
\(\mathbb{P}\)-null modification.
Step 2 (The martingale identity).
Fix \(0 \leq s \leq t \leq T\) and \(H \in \mathcal{M}_s\). Then \(H\)
belongs to both \(\mathcal{M}_s\) and \(\mathcal{M}_t\), and each density
computes the same number:
\[
\int_H Z_t\, d\mathbb{P}
= \mathbb{Q}(H)
= \int_H Z_s\, d\mathbb{P} .
\]
The random variable \(Z_s\) is \(\mathcal{M}_s\)-measurable, integrable
with \(\mathbb{E}_{\mathbb{P}}[Z_s] = \mathbb{Q}(\Omega) = 1\), and by the
display it integrates like \(Z_t\) over every set in \(\mathcal{M}_s\).
By the
defining property
of conditional expectation,
\(Z_s = \mathbb{E}_{\mathbb{P}}[ Z_t \mid \mathcal{M}_s ]\)
\(\mathbb{P}\)-a.s. This is condition (M3) of the martingale definition,
adaptedness (M1) holds because each \(Z_t\) is
\(\mathcal{M}_t\)-measurable by construction, and integrability (M2) was
just computed. Taking \(t = T\) in the identity gives
\(Z_s = \mathbb{E}_{\mathbb{P}}[ Z_T \mid \mathcal{M}_s ]\).
Read together, the two lemmas say that a change of measure at the horizon
ripples backward through time in a controlled way. The density seen at time
\(t\) is the best time-\(t\) prediction of the terminal density, and
conditioning under the new measure costs one multiplication and one division by
these densities. With the bridge in place, we can build the measure that
absorbs a drift.
The Girsanov Theorem
Which density removes a drift? Finite dimensions supply the guess. Under
\(\mathbb{P}\), the increment of a Brownian coordinate over a short window
\([t, t + \Delta t]\) is centered Gaussian with variance \(\Delta t\), while
the corresponding increment of \(Y\) is \(a\, \Delta t + \Delta w\). For the
increment of \(Y\) to look centered, outcomes must be reweighted so that
\(\Delta w\) behaves as though its mean were \(-a\, \Delta t\). The ratio of
the two Gaussian densities, evaluated at the observed increment
\(x = \Delta w\), is
\[
\frac{\exp\bigl( -(x + a\, \Delta t)^2 / (2\, \Delta t) \bigr)}
{\exp\bigl( -x^2 / (2\, \Delta t) \bigr)}
= \exp\Bigl( -a\, x - \tfrac{1}{2}\, a^2\, \Delta t \Bigr) .
\]
Independent windows contribute independent ratios, and products of
exponentials add their exponents. As the windows shrink, the sums become
integrals, and the candidate density over the horizon \([0, T]\) emerges as
\[
M_T = \exp\Bigl(
- \int_0^T \mathbf{a}(s, \omega) \cdot d\mathbf{w}_s
- \frac{1}{2} \int_0^T | \mathbf{a}(s, \omega) |^2\, ds
\Bigr) .
\]
This is a likelihood ratio between two descriptions of the same outcome, the
very object that appears as an
importance weight
in Monte Carlo estimation, except that the weight is now attached to an entire
path rather than to a single draw. Before it can define a measure, two
analytic facts must be earned: the weight must integrate to one, and the
family \(M_t\) obtained by shrinking the horizon must be a martingale, so that
the change of measure restricts coherently through time in the sense of the
density process lemma. For deterministic step integrands both facts are
already on record in the
exponential martingale identity.
The drift we must absorb is a genuinely random process, so we extend the
result, trading determinism for boundedness.
Lemma: The Exponential Martingale for Bounded Integrands
Fix \(T \gt 0\) and a constant \(C\). Let
\(\mathbf{a}(s, \omega) = (a_1, \ldots, a_n)\) be progressively
measurable with respect to \(\{\mathcal{F}_s^{(n)}\}\) with
\(|\mathbf{a}(s, \omega)| \leq C\) for all \((s, \omega)\), extended by
zero after time \(T\). Define, for \(t \in [0, T]\),
\[
\begin{align*}
V_t
&= - \sum_{j=1}^{n} \int_0^t a_j(s, \omega)\, dw_s^{(j)}
- \frac{1}{2} \int_0^t |\mathbf{a}(s, \omega)|^2\, ds , \\\\
M_t
&= e^{V_t} ,
\end{align*}
\]
the stochastic integrals taken in their everywhere-continuous
realizations. Then:
(1) \(M\) is a
martingale
with respect to \(\{\mathcal{F}_t^{(n)}\}\) and \(\mathbb{P}\), read on
the index set \([0, T]\), with \(\mathbb{E}[M_t] = 1\) for every \(t\).
(2) For every real \(p \geq 1\) and every \(t \in [0, T]\),
\(\mathbb{E}\bigl[ M_t^p \bigr]
\leq \exp\bigl( \tfrac{1}{2}\, p\, (p - 1)\, C^2\, T \bigr)\).
(3) Each \(M a_j\) belongs to \(\mathcal{V}(0, T)\), and for every
\(t \in [0, T]\), almost surely,
\[
M_t = 1 - \sum_{j=1}^{n} \int_0^t M_s\, a_j(s, \omega)\, dw_s^{(j)} ,
\]
in differential shorthand
\(dM_t = -M_t\, \mathbf{a} \cdot d\mathbf{w}_t\). In particular \(M\) is
an Itô process with zero \(ds\)-coefficient.
Proof.
Step 1 (Localization).
Boundedness and progressive measurability place each \(a_j\) and
\(\tfrac{1}{2}|\mathbf{a}|^2\) in the coefficient classes of the
vector Itô process
definition with \(m = 1\), so \(V\) is a one-dimensional Itô
process with everywhere-continuous paths. For \(R \gt 0\) let
\(\tau_R\) be the first exit time of \(V\) from the open interval
\((-R, R)\), a stopping time by the
first exit theorem.
On the compact interval \([0, T]\) every continuous path of \(V\) is
bounded, so for each \(\omega\) there is a threshold beyond which
\(\tau_R \geq T\). The stopped variable \(M_{t \wedge \tau_R}\) is
eventually equal to \(M_t\) as \(R \to \infty\), for every \(\omega\)
and every \(t \in [0, T]\). Note also that
\(V_{s \wedge \tau_R} \in [-R, R]\) for all \(s\): before the exit this
holds by definition, and at the exit it holds because continuity forces
the exit position onto the boundary of the interval.
Step 2 (The stopped process has truncated coefficients).
By the
stopped Itô integral theorem,
applied on each horizon \(t \leq T\) and read component by component
against each driving coordinate \(w^{(j)}\) with the filtration
\(\{\mathcal{F}_s^{(n)}\}\), as the
multi-dimensional integral
prescribes, each \(\mathbf{1}_{[0, \tau_R)}\, a_j\) lies in
\(\mathcal{V}(0, T)\) and
\[
V_{t \wedge \tau_R}
= - \sum_{j=1}^{n} \int_0^t \mathbf{1}_{[0, \tau_R)}(s)\, a_j\, dw_s^{(j)}
- \int_0^t \mathbf{1}_{[0, \tau_R)}(s)\, \tfrac{1}{2} |\mathbf{a}|^2\, ds ,
\]
the \(ds\)-term because stopping an ordinary time integral at
\(t \wedge \tau_R\) is the same as integrating the truncated integrand,
an identity verified path by path. So \(V^R := V_{\cdot \wedge \tau_R}\)
is again an Itô process, with coefficients cut off at \(\tau_R\).
Step 3 (Itô's formula below the stop).
Apply the
general Itô formula
to \(V^R\) with \(g(t, x) = e^x\), which is smooth on
\([0, \infty) \times \mathbb{R}\). The membership condition asks that
\(e^{V^R_s} \bigl( -a_j\, \mathbf{1}_{[0, \tau_R)}(s) \bigr)\) lie in
\(\mathcal{V}(0, T)\) for each \(j\), and it does. The process is
progressively measurable, and Step 1 bounds it by \(C e^{R}\). The
\(ds\)-integrand produced by the formula vanishes identically,
\[
e^{V^R_s} \Bigl(
- \tfrac{1}{2} |\mathbf{a}|^2\, \mathbf{1}_{[0, \tau_R)}
+ \tfrac{1}{2} |\mathbf{a}|^2\, \mathbf{1}_{[0, \tau_R)}
\Bigr) = 0 ,
\]
the first term from the drift of \(V^R\) and the second from half the
squared row of its \(d\mathbf{w}\)-coefficients. Since
\(e^{V^R_s}\, \mathbf{1}_{[0, \tau_R)}(s) = M_s\, \mathbf{1}_{[0, \tau_R)}(s)\),
the formula collapses to
\[
M_{t \wedge \tau_R}
= 1 - \sum_{j=1}^{n} \int_0^t
\mathbf{1}_{[0, \tau_R)}(s)\, M_s\, a_j\, dw_s^{(j)} .
\]
Each integrand is bounded, hence in \(\mathcal{V}(0, T)\), so each
integral is a martingale by the
martingale property of Itô integrals,
and a finite sum of martingales is a martingale. Therefore
\(M_{\cdot \wedge \tau_R}\) is a martingale with
\(\mathbb{E}[M_{t \wedge \tau_R}] = 1\).
Step 4 (A second-moment bound, uniform in \(R\)).
Let \(N\) denote the exponential process built from the integrand
\(2\mathbf{a}\) in place of \(\mathbf{a}\). Expanding the exponents,
\[
M_t^2 = e^{2 V_t}
= N_t \cdot \exp\Bigl( \int_0^t |\mathbf{a}|^2\, ds \Bigr)
\leq e^{C^2 T}\, N_t ,
\]
and, for \(s \leq \tau_R\), the same expansion gives
\(N_s = \exp\bigl( 2 V_s - \int_0^s |\mathbf{a}|^2\, ds \bigr)
\leq e^{2R}\). Steps 2 and 3 therefore apply verbatim to \(N\) with the
same stopping time \(\tau_R\). The only property of \(\tau_R\) those
steps used is that the resulting integrands are bounded on
\([0, \tau_R)\), which the display just secured. Hence
\(\mathbb{E}[N_{t \wedge \tau_R}] = 1\), and
\[
\mathbb{E}\bigl[ M_{t \wedge \tau_R}^2 \bigr]
\leq e^{C^2 T}\, \mathbb{E}\bigl[ N_{t \wedge \tau_R} \bigr]
= e^{C^2 T}
\quad \text{for every } R .
\]
Letting \(R \to \infty\) along the pointwise convergence of Step 1,
Fatou's lemma
yields \(\mathbb{E}[M_t^2] \leq e^{C^2 T}\) for every \(t \in [0, T]\).
Step 5 (From stopped to global martingale).
Write \(\Delta_R = M_{t \wedge \tau_R} - M_t\), so \(\Delta_R \to 0\)
pointwise. For every threshold \(K \gt 0\), the pointwise inequality
\(|\Delta_R| \leq \min(|\Delta_R|, K) + \Delta_R^2 / K\) holds, because
on \(\{|\Delta_R| \gt K\}\) the second summand alone dominates. Taking
expectations,
\(\mathbb{E}[\min(|\Delta_R|, K)] \to 0\) by the
dominated convergence theorem
with the constant dominator \(K\), while
\(\mathbb{E}[\Delta_R^2] \leq 2\, \mathbb{E}[M_{t \wedge \tau_R}^2]
+ 2\, \mathbb{E}[M_t^2] \leq 4 e^{C^2 T}\) by Step 4. Hence
\(\limsup_R \mathbb{E}|\Delta_R| \leq 4 e^{C^2 T} / K\) for every
\(K\), and \(\mathbb{E}|\Delta_R| \to 0\).
Now fix \(0 \leq s \leq t \leq T\) and \(A \in \mathcal{F}_s^{(n)}\).
Integrating the stopped martingale identity of Step 3 over \(A\) gives
\(\mathbb{E}[\mathbf{1}_A\, M_{t \wedge \tau_R}]
= \mathbb{E}[\mathbf{1}_A\, M_{s \wedge \tau_R}]\), and since
\(|\mathbb{E}[\mathbf{1}_A\, M_{t \wedge \tau_R}]
- \mathbb{E}[\mathbf{1}_A\, M_t]| \leq \mathbb{E}|\Delta_R| \to 0\),
with the same estimate at time \(s\), the limits agree:
\(\mathbb{E}[\mathbf{1}_A\, M_t] = \mathbb{E}[\mathbf{1}_A\, M_s]\) for
every \(A \in \mathcal{F}_s^{(n)}\). The variable \(M_s\) is
\(\mathcal{F}_s^{(n)}\)-measurable, being a continuous function of
adapted integrals, and integrable, so the
defining property
identifies \(M_s = \mathbb{E}[M_t \mid \mathcal{F}_s^{(n)}]\) a.s. The
three conditions of the martingale definition hold on \([0, T]\), and
taking \(s = 0\) gives \(\mathbb{E}[M_t] = M_0 = 1\). This proves (1).
Step 6 (Moments).
For real \(p \geq 1\), the process \(p\, \mathbf{a}\) is progressively
measurable and bounded by \(p\, C\), so part (1) applies to its
exponential process \(N^{(p)}\), giving
\(\mathbb{E}[N^{(p)}_t] = 1\). The exponents rearrange as
\[
M_t^p
= \exp\Bigl( - \int_0^t p\, \mathbf{a} \cdot d\mathbf{w}
- \frac{p}{2} \int_0^t |\mathbf{a}|^2\, ds \Bigr)
= N^{(p)}_t \cdot
\exp\Bigl( \frac{p^2 - p}{2} \int_0^t |\mathbf{a}|^2\, ds \Bigr)
\leq e^{\frac{1}{2} p (p-1) C^2 T}\, N^{(p)}_t ,
\]
and taking expectations proves (2).
Step 7 (The unstopped identity).
First the membership claim. Each \(M a_j\) is a product of progressively
measurable processes, and by
Tonelli's theorem
together with the bound of Step 4,
\[
\mathbb{E}\Bigl[ \int_0^T M_s^2\, a_j^2\, ds \Bigr]
\leq C^2 \int_0^T \mathbb{E}\bigl[ M_s^2 \bigr]\, ds
\leq C^2\, T\, e^{C^2 T} \lt \infty ,
\]
so \(M a_j \in \mathcal{V}(0, T)\). Next, the truncated integrands of
Step 3 converge to \(M a_j\) in the \(\mathcal{V}\)-norm: the random
variable \(\int_0^t \mathbf{1}_{[\tau_R, \infty)}(s)\, M_s^2\, a_j^2\, ds\)
vanishes for \(R\) large by Step 1, is dominated by the integrable
variable \(\int_0^T M_s^2\, a_j^2\, ds\), and so has expectation tending
to zero by dominated convergence. By the
Itô isometry,
applied per component on the horizon \(t\), each truncated integral
converges in \(L^2(\mathbb{P})\) to
\(\int_0^t M_s\, a_j\, dw_s^{(j)}\), and the finite sum over \(j\)
converges as well. The left side of Step 3's identity converges to
\(M_t\) pointwise. An \(L^2\)-convergent sequence has an almost surely
convergent
subsequence,
and along it both limits must agree, so for each \(t\), almost surely,
\[
M_t = 1 - \sum_{j=1}^{n} \int_0^t M_s\, a_j\, dw_s^{(j)} .
\]
Both sides are continuous in \(t\) in their chosen realizations, so the
identity extends from a countable dense set of times to all of
\([0, T]\) simultaneously, off a single null set. This proves (3).
The lemma quietly upgrades the site's exponential-martingale toolkit. Where the deterministic step case rested on a Gaussian computation, boundedness
alone now suffices, at the price of the localization argument above. Both
results are instances of a single sufficient condition, and we will return
to that condition, and to what remains unproved about it, once the main
theorem is on the table.
One more preparation. The proof ahead multiplies \(M\) against processes that
grow, and each product must be certified as an admissible integrand before
the product rule or the martingale property of Itô integrals may touch
it. The moment bound of the lemma turns all of these checks into one.
Lemma: Membership of Exponentially Weighted Integrands
In the setting of the exponential martingale lemma, let \(h(s, \omega)\)
be progressively measurable with \(|h| \leq C'\) for a constant \(C'\),
and let \(\Phi\) be a continuous adapted process with
\(\sup_{s \in [0, T]} \mathbb{E}\bigl[ \Phi_s^4 \bigr] \lt \infty\).
Then \(h\, M\, \Phi \in \mathcal{V}(0, T)\).
Proof.
The product is progressively measurable, hence measurable and adapted.
For the integrability condition, the pointwise inequality
\(M_s^2 \Phi_s^2 \leq \tfrac{1}{2} M_s^4 + \tfrac{1}{2} \Phi_s^4\)
together with
Tonelli's theorem
and the moment bound of the exponential martingale lemma with \(p = 4\)
gives
\[
\mathbb{E}\Bigl[ \int_0^T h^2 M_s^2 \Phi_s^2\, ds \Bigr]
\leq \frac{(C')^2\, T}{2}
\Bigl( e^{6 C^2 T} + \sup_{s \in [0, T]} \mathbb{E}\bigl[ \Phi_s^4 \bigr] \Bigr)
\lt \infty .
\]
Everything is now in place: a candidate density, its martingale property, and
a supply of admissible integrands. Here is the theorem.
Theorem: The Girsanov Theorem
Fix \(T \gt 0\) and a constant \(C\). Let
\(\mathbf{a}(s, \omega)\) be progressively measurable with respect to
\(\{\mathcal{F}_s^{(n)}\}\) with \(|\mathbf{a}(s, \omega)| \leq C\), let
\(M\) be its exponential martingale, and define
\[
\mathbf{Y}_t = \int_0^t \mathbf{a}(s, \omega)\, ds + \mathbf{w}_t ,
\quad 0 \leq t \leq T ,
\]
together with the measure \(\mathbb{Q}\) on
\(\bigl( \Omega, \mathcal{F}_T^{(n)} \bigr)\) given by
\[
\mathbb{Q}(A) = \mathbb{E}_{\mathbb{P}}\bigl[ \mathbf{1}_A\, M_T \bigr] ,
\quad A \in \mathcal{F}_T^{(n)} .
\]
Then:
(1) \(\mathbb{Q}\) is a probability measure, and \(\mathbb{Q}\) and
\(\mathbb{P}\) are equivalent on \(\mathcal{F}_T^{(n)}\), that is, each is
absolutely continuous with respect to the other.
(2) For every \(t \in [0, T]\), the density of the restriction of
\(\mathbb{Q}\) to \(\mathcal{F}_t^{(n)}\) with respect to that of
\(\mathbb{P}\) is \(M_t\).
(3) Under \(\mathbb{Q}\), the process
\(( \mathbf{Y}_t )_{t \in [0, T]}\) is an \(n\)-dimensional
Brownian motion
relative to \(\{\mathcal{F}_t^{(n)}\}\), started at the origin, that is, its law
under \(\mathbb{Q}\) coincides with the law of standard Brownian motion
restricted to \([0, T]\), and each increment
\(\mathbf{Y}_t - \mathbf{Y}_s\) is independent of
\(\mathcal{F}_s^{(n)}\) under \(\mathbb{Q}\).
Proof.
Step 1 (A probability measure equivalent to
\(\mathbb{P}\)).
The Itô integrals defining \(V_T\) are finite real numbers for
every \(\omega\) in their continuous realizations, so
\(M_T(\omega) = e^{V_T(\omega)} \gt 0\) everywhere. Non-negativity gives
\(\mathbb{Q} \geq 0\), the exponential martingale lemma gives
\(\mathbb{Q}(\Omega) = \mathbb{E}_{\mathbb{P}}[M_T] = 1\), and for disjoint sets
\(A_1, A_2, \ldots\) the partial sums of
\(\sum_k \mathbf{1}_{A_k} M_T\) increase to
\(\mathbf{1}_{\cup_k A_k} M_T\), so countable additivity follows from the
monotone convergence theorem.
Absolute continuity \(\mathbb{Q} \ll \mathbb{P}\) is built into the
definition. Conversely, if \(\mathbb{Q}(A) = 0\) then the non-negative
variable \(\mathbf{1}_A M_T\) has zero expectation, hence vanishes
\(\mathbb{P}\)-a.s., and since \(M_T \gt 0\) everywhere this forces
\(\mathbb{P}(A) = 0\). This proves (1).
Step 2 (The density process is \(M\) itself).
Fix \(t \in [0, T]\) and \(A \in \mathcal{F}_t^{(n)}\). By the
defining property
of conditional expectation and the martingale property of \(M\),
\[
\mathbb{Q}(A)
= \mathbb{E}_{\mathbb{P}}\bigl[ \mathbf{1}_A\, M_T \bigr]
= \mathbb{E}_{\mathbb{P}}\bigl[ \mathbf{1}_A\,
\mathbb{E}_{\mathbb{P}}[ M_T \mid \mathcal{F}_t^{(n)} ] \bigr]
= \mathbb{E}_{\mathbb{P}}\bigl[ \mathbf{1}_A\, M_t \bigr] .
\]
The variable \(M_t\) is non-negative and
\(\mathcal{F}_t^{(n)}\)-measurable, so it is a density of the restricted
\(\mathbb{Q}\) with respect to the restricted \(\mathbb{P}\), and by the
uniqueness half of the
Radon-Nikodym theorem
it is the density, up to \(\mathbb{P}\)-null modification. This proves
(2), and it identifies the abstract density process of the pair
\((\mathbb{P}, \mathbb{Q})\), whose martingale property the density
process lemma establishes in general, with the concrete exponential
\(M\).
Step 3 (Moments of the shifted motion).
Each coordinate \(w^{(i)}_s\) is a centered Gaussian variable with
variance \(s\), by property (W1) of the
Brownian motion definition.
Writing \(\varphi_s\) for its density, the relation
\(z\, \varphi_s(z) = -s\, \varphi_s'(z)\) and one integration by parts
give the recursion
\[
\mathbb{E}\bigl[ (w^{(i)}_s)^{2k} \bigr]
= \int_{\mathbb{R}} z^{2k}\, \varphi_s(z)\, dz
= (2k - 1)\, s \int_{\mathbb{R}} z^{2k - 2}\, \varphi_s(z)\, dz
= (2k - 1)\, s\, \mathbb{E}\bigl[ (w^{(i)}_s)^{2k - 2} \bigr] ,
\]
so by induction every even moment is finite and bounded uniformly for
\(s \in [0, T]\). Since
\(|Y^{(i)}_s| \leq C T + |w^{(i)}_s|\) and
\((x + y)^{2k} \leq 2^{2k - 1} ( x^{2k} + y^{2k} )\) by convexity, every
even moment of \(Y^{(i)}_s\) up to order eight is bounded uniformly on
\([0, T]\). Two consequences will be needed below. First, for each
\(i, j\),
\[
\begin{align*}
\sup_{s \in [0, T]} \mathbb{E}\Bigl[ \bigl( Y^{(i)}_s \bigr)^4 \Bigr]
&\lt \infty , \\\\
\sup_{s \in [0, T]} \mathbb{E}\Bigl[
\bigl( Y^{(i)}_s Y^{(j)}_s - \delta_{ij}\, s \bigr)^4 \Bigr]
&\lt \infty ,
\end{align*}
\]
the second because
\((x y - c)^4 \leq 8\, ( x^4 y^4 + c^4 )
\leq 8 \bigl( \tfrac{1}{2} x^8 + \tfrac{1}{2} y^8 + c^4 \bigr)\)
with \(|c| \leq T\). Second, for \(X\) standing for either
\(Y^{(i)}_t\) or \(Y^{(i)}_t Y^{(j)}_t - \delta_{ij}\, t\), the second
moment \(\mathbb{E}[X^2]\) is finite by the even-moment bounds just
recorded, so
\(\mathbb{E}_{\mathbb{Q}}[|X|] = \mathbb{E}_{\mathbb{P}}[M_T |X|]
\leq \tfrac{1}{2} \mathbb{E}[M_T^2]
+ \tfrac{1}{2} \mathbb{E}[X^2] \lt \infty\). Both variables are
\(\mathbb{Q}\)-integrable.
Step 4 (The compensated products are
\(\mathbb{P}\)-martingales).
The process \(\mathbf{Y}\) is an \(n\)-dimensional
Itô process
with drift \(\mathbf{a}\), coefficient matrix the identity, and
\(\mathbf{Y}_0 = \mathbf{0}\), while the exponential martingale lemma
exhibits \(M\) as an Itô process with zero drift and
\(d\mathbf{w}\)-row \(-M \mathbf{a}^\top\). Fix \(i\) and set
\(K_t = M_t\, Y^{(i)}_t\). The
stochastic product rule
asks that, for each \(j\), the process
\(Y^{(i)} \cdot ( -M a_j ) + M\, \delta_{ij}\) lie in
\(\mathcal{V}(0, T)\), which the membership lemma grants: take
\(h = -a_j\), \(\Phi = Y^{(i)}\) for the first summand and \(h = 1\),
\(\Phi = \delta_{ij}\) for the second, and note that \(\mathcal{V}(0, T)\)
is closed under sums since
\((f + g)^2 \leq 2 f^2 + 2 g^2\). The product rule then yields
\[
dK_t
= M_t \bigl( a_i\, dt + dw^{(i)}_t \bigr)
+ Y^{(i)}_t \bigl( - M_t\, \mathbf{a} \cdot d\mathbf{w}_t \bigr)
+ \sum_{j=1}^{n} ( - M_t\, a_j )\, \delta_{ij}\, dt
= M_t\, dw^{(i)}_t
- Y^{(i)}_t M_t\, \mathbf{a} \cdot d\mathbf{w}_t ,
\]
the two \(dt\)-terms cancelling exactly. Since \(K_0 = 0\), the process
\(K\) is a sum of Itô integrals of \(\mathcal{V}(0, T)\)-integrands
and hence a martingale under \(\mathbb{P}\), by the
martingale property of Itô integrals.
Now fix \(i, j\) and treat the product \(Y^{(i)} Y^{(j)}\). The product
rule applies with membership condition
\(Y^{(i)} \delta_{jk} + Y^{(j)} \delta_{ik} \in \mathcal{V}(0, T)\) for
each \(k\), granted directly by
\(\mathbb{E}\bigl[ (Y^{(i)}_s)^2 \bigr] \leq 2 C^2 T^2 + 2 s\) and
Tonelli, and produces the bracket
\(\sum_k \delta_{ik} \delta_{jk}\, dt = \delta_{ij}\, dt\):
\[
d\bigl( Y^{(i)} Y^{(j)} \bigr)
= Y^{(i)}\, dY^{(j)} + Y^{(j)}\, dY^{(i)} + \delta_{ij}\, dt .
\]
Absorbing the constant \(-\delta_{ij}\) into the drift coefficient, the
process \(G_t = Y^{(i)}_t Y^{(j)}_t - \delta_{ij}\, t\) is an Itô
process with drift \(Y^{(i)} a_j + Y^{(j)} a_i\) and
\(d\mathbf{w}\)-row \(Y^{(i)} \mathbf{e}_j^\top +
Y^{(j)} \mathbf{e}_i^\top\), where \(\mathbf{e}_i\) denotes the
\(i\)-th standard basis vector. Set
\(\widetilde{K}_t = M_t\, G_t\). The product rule's membership
condition reads, for each \(k\),
\(G \cdot ( - M a_k )
+ M \bigl( Y^{(i)} \delta_{jk} + Y^{(j)} \delta_{ik} \bigr)
\in \mathcal{V}(0, T)\), and the membership lemma grants every summand
through Step 3's fourth-moment bounds, with
\(\Phi = G\) and \(\Phi = Y^{(i)}, Y^{(j)}\) respectively. The bracket
is \(\sum_k ( - M a_k ) \bigl( Y^{(i)} \delta_{jk}
+ Y^{(j)} \delta_{ik} \bigr)\, dt
= - M \bigl( Y^{(i)} a_j + Y^{(j)} a_i \bigr)\, dt\), which cancels
\(M\) times the drift of \(G\), so
\[
d\widetilde{K}_t
= M_t \Bigl( Y^{(i)}_t\, dw^{(j)}_t + Y^{(j)}_t\, dw^{(i)}_t \Bigr)
- G_t\, M_t\, \mathbf{a} \cdot d\mathbf{w}_t .
\]
Again \(\widetilde{K}_0 = 0\), the integrands lie in
\(\mathcal{V}(0, T)\), and \(\widetilde{K}\) is a martingale under
\(\mathbb{P}\).
Step 5 (Transfer to \(\mathbb{Q}\) by Bayes' rule).
Fix \(0 \leq s \leq t \leq T\) and let \(X\) stand for either
\(Y^{(i)}_t\) or \(Y^{(i)}_t Y^{(j)}_t - \delta_{ij}\, t\). Apply
Bayes' rule
on \(\bigl( \Omega, \mathcal{F}_T^{(n)} \bigr)\) with \(\mu\) the
restriction of \(\mathbb{P}\), \(\nu = \mathbb{Q}\), density
\(f = M_T\), and \(\mathcal{H} = \mathcal{F}_s^{(n)}\). The
\(\mathbb{Q}\)-integrability of \(X\) is Step 3, so
\[
\mathbb{E}_{\mathbb{Q}}\bigl[ X \mid \mathcal{F}_s^{(n)} \bigr]
\cdot \mathbb{E}_{\mathbb{P}}\bigl[ M_T \mid \mathcal{F}_s^{(n)} \bigr]
= \mathbb{E}_{\mathbb{P}}\bigl[ M_T\, X \mid \mathcal{F}_s^{(n)} \bigr] .
\]
The second factor on the left is \(M_s\), by the martingale property of
\(M\). For the right side, the
tower property
through \(\mathcal{F}_t^{(n)}\) and
take-out
of the \(\mathcal{F}_t^{(n)}\)-measurable factor \(X\), whose product
with \(M_T\) is integrable by
\(|M_T X| \leq \tfrac{1}{2} M_T^2 + \tfrac{1}{2} X^2\) and Step 3, give
\[
\mathbb{E}_{\mathbb{P}}\bigl[ M_T X \mid \mathcal{F}_s^{(n)} \bigr]
= \mathbb{E}_{\mathbb{P}}\Bigl[ X\,
\mathbb{E}_{\mathbb{P}}\bigl[ M_T \mid \mathcal{F}_t^{(n)} \bigr]
\Bigm| \mathcal{F}_s^{(n)} \Bigr]
= \mathbb{E}_{\mathbb{P}}\bigl[ X M_t \mid \mathcal{F}_s^{(n)} \bigr] ,
\]
and \(X M_t\) is exactly \(K_t\), respectively \(\widetilde{K}_t\), so
by Step 4 its conditional expectation at time \(s\) is \(K_s\),
respectively \(\widetilde{K}_s\), that is, \(M_s\, Y^{(i)}_s\),
respectively \(M_s \bigl( Y^{(i)}_s Y^{(j)}_s - \delta_{ij}\, s \bigr)\).
Combining the displays and dividing by \(M_s\), which is strictly
positive at every \(\omega\),
\[
\begin{align*}
\mathbb{E}_{\mathbb{Q}}\bigl[ Y^{(i)}_t \mid \mathcal{F}_s^{(n)} \bigr]
&= Y^{(i)}_s , \\\\
\mathbb{E}_{\mathbb{Q}}\bigl[ Y^{(i)}_t Y^{(j)}_t - \delta_{ij}\, t
\Bigm| \mathcal{F}_s^{(n)} \bigr]
&= Y^{(i)}_s Y^{(j)}_s - \delta_{ij}\, s ,
\end{align*}
\]
first \(\mathbb{P}\)-a.s. and then \(\mathbb{Q}\)-a.s., since every
\(\mathbb{P}\)-null set is \(\mathbb{Q}\)-null by (1). Each process is
adapted and \(\mathbb{Q}\)-integrable, so under \(\mathbb{Q}\) the
coordinates \(Y^{(i)}\) and the compensated products
\(Y^{(i)} Y^{(j)} - \delta_{ij}\, t\) are martingales with respect to
\(\{\mathcal{F}_t^{(n)}\}\) on \([0, T]\).
Step 6 (Conclusion by the Lévy characterization).
The process \(\mathbf{Y}\) is continuous, starts at the origin, and is
adapted to \(\{\mathcal{F}_t^{(n)}\}\). Step 5 verifies conditions (i)
and (ii) of the
Lévy characterization
with respect to \(\{\mathcal{F}_t^{(n)}\}\) and \(\mathbb{Q}\), and the
characterization delivers exactly the conclusion of (3): the law of
\(\mathbf{Y}\) under \(\mathbb{Q}\) is that of an \(n\)-dimensional
standard Brownian motion on \([0, T]\), with each increment independent
of \(\mathcal{F}_s^{(n)}\).
Boundedness of the drift is the one hypothesis a reader may wish to relax,
and the honest accounting is this. The theorem's proof used boundedness only
to secure the martingale property of \(M\) and the membership bounds, and
the classical sufficient condition covering unbounded drifts is the Novikov
condition,
\[
\mathbb{E}\Bigl[ \exp\Bigl( \frac{1}{2} \int_0^T
|\mathbf{a}(s, \omega)|^2\, ds \Bigr) \Bigr] \lt \infty ,
\]
under which \(M\) is again a martingale and the conclusions above persist.
This page has proved two instances of that principle from scratch: the
deterministic step case,
where the condition holds because the exponent is a constant, and the bounded
case, where it holds because the exponent is at most
\(\tfrac{1}{2} C^2 T\). We do not prove the general implication. Like the
Lévy characterization, it belongs to the theory of continuous
martingales, and every use of Girsanov's theorem on this site runs through
the bounded case.