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LIMIT DISTRIBUTION OF THE MEAN SQUARE DEVIATION OF THE GASSER–M ¨ULLER

NONPARAMETRIC ESTIMATE OF THE REGRESSION FUNCTION

R. ABSAVA AND E. NADARAYA

Abstract. Asymptotic distribution of the mean square deviation of the Gasser–M¨uller estimate of the regression curve is investigated.

The testing of hypotheses on regression function is considered. The asymptotic behaviour of the power of the proposed criteria under contiguous alternatives is studed.

Let{Ynk, k= 1, . . . , n}n1 be a sequence of arrays of random variables defined as follows:

Ynk=g(xnk) +Znk, xnk= k

n, k= 1, . . . , n, n1,

where g(x), x∈[0,1], is the unknown real-valued function to be estimated by given observations Ynk; Znk, k = 1, . . . , n, is a sequence of arrays of independent random variables identically distributed in each array such thatEZnk= 0, EZnk2 =σ2,k= 1, . . . , n,n≥1.

Let us consider the estimate of the functiong(x) from [1]:

gn(x) = Xn

i=1

Wni(x)Yni, x∈[0,1], where

Wni=bn1 Z

i

Kx−t bn

‘dt,i=hi−1 n , i

n i.

HereK(x) is some kernel,bn is a sequence of positive numbers tending to 0.

Assume that the kernel K(x) has a compact support and satisfies the conditions:

1991Mathematics Subject Classification. 62G07.

Key words and phrases. Limit distribution, consistency, power of criteria, contiguous alternatives.

501

1072-947X/99/1100-0501$16.00/0 c1999 Plenum Publishing Corporation

(2)

1. supp(K)R [−τ, τ], 0< τ <∞, sup|K|<∞, K(u)du= 1, K(−x) =K(x),

2. R

K(u)ujdu= 0, 0< j < s, R

K(u)usdu6= 0, 3. K(x) has a bounded derivative inR= (−∞,∞).

Denote by Fs the family of regression functions g(x), x [0,1], hav- ing derivatives of order up to s (s 2), g(s)(x) is continuous. Note that Pn

i=1Wni(x) = 1 forx∈n(τ) = [τ bn,1−τ bn] andEgn(x) =g(x) +O(b2n) if the kernelK(x) satisfies condition 1andg(x)∈F2. On the other hand, Pn

i=1Wni(x) 6= 1 for x [0, τ bn)(1−τ bn,1] and it may happen that Egn(x)6→g(x), for example,Egn(0) g(0)2 (orEgn(1) g(1)2 ). If the es- timategn(x) is divided byPn

i=1Wni(x), then the proposed estimate egn(x) becomes asymptotically unbiased and, moreover, Eegn(x) = g(x) +O(bn) forx∈[0, τ bn)(1−τ bn,1]. Hence the asymptotic behaviour of the esti- mategn(x) near the boundary of the interval [0, 1] is worse than within the interval Ωn(τ). A phenomenon of such kind is known in the literature as the boundary effect of the estimatorgn(x) (see, for examle, [2]). It would be interesting to investigate the limit behaviour of the distribution of the mean square deviation ofgn(x) fromg(x) on the interval Ωn(τ) and this is the aim of the present article.

The method of proving the statements given below is based on the func- tional limit theorems for semimartingales from [3].

We will use the notation:

Un=nbn

Z

n(τ)

(gn(x)−Egn(x))2dx, σ2n= 4σ4(nbn)2 Xn

k=2 kX1

i=1

Q2ik(n), Qij ≡Qij(n) =

Z

n(τ)

Wni(x)Wnj(x)dx, ηik≡ηik(n) = 2nbnQikZniZnkσn1, ξnk=

k1

X

i=1

ηik, k= 2, . . . , n, ξn1= 0, ξnk= 0, k > n, Fk(n)=σ(ω:Zn1, Zn2, . . . , Znk),

whereFk(n)is theσ-algebra generated by the random variablesZn1,Zn2, . . ., Znk,F0(n)= (∅,Ω).

Lemma 1 ([4], p. 179). The stochastic sequencenk,Fk(n))k1 is a martingale-difference.

Lemma 2. Suppose the kernel K(x) satisfies conditions 1 and 3. If

(3)

nb2n → ∞, then

bn1σ2n4 Z

K02(u)du, (1)

and

EUn =σ2 Z

K2(u)du+O(bn) +O 1 nbn

‘

, (2)

whereK0=K∗K (the symbol ∗denotes the convolution).

Proof. It is not difficult to see that σn2 = 2σ4(nbn)2

”Xn k=1

Xn i=1

Q2ki Xn i=1

Q2ii

•

=d1(n) +d2(n). (3) Here by the definition ofQki we have

d1(n) = 2σ4n2bn2X

i,j

’ Z

i

Z

j

Ψn(t1, t2)dt1dt2

“2

, where

Ψn(t1, t2) = Z

n(τ)

Kx−t1

bn

‘

Kx−t2

bn

‘ dx.

Using the mean value theorem, we can rewrited1(n) as d1(n) = 2σ4(nbn)2X

i,j

Ψ2n(1)i , θ(2)j ), withθ(1)i i,θi(2)j.

Let P(x) be the uniform distribution function on [0,1] and Pn(i)(x) the empirical distribution function of the “sample” θ(i)1 , . . . , θn(i), i = 1,2, i.e., Pn(i)(x) =n1Pn

k=1I(−∞,x)k(i)),whereIA(·) is the indicator of the setA.

Thend1(n) can be written as the integral d1(n) = 2σ4bn2

Z 1 0

Z 1 0

Ψ2n(x, y)dPn(1)(x)dPn(2)(y). (4) It is easy to check that

ŒŒ

ŒŒ Z 1

0

Z 1 0

Ψ2n(x, y)dPn(1)(x)dPn(2)(y) Z 1

0

Z 1 0

Ψ2n(x, y)dP(x)dP(y)

ŒŒ

ŒŒ≤I1+I2, where

I1=

ŒŒ

ŒŒ Z 1

0

Z 1 0

Ψ2n(x, y)dPn(2)(y)[dPn(1)(x)−dP(x)]

ŒŒ

ŒŒ,

(4)

I2=

ŒŒ

ŒŒ Z 1

0

Z 1 0

Ψ2n(x, y)dP(x)[dPn(2)(y)−dP(y)]

ŒŒ

ŒŒ.

Furthermore, the integration by parts of the internal integral inI1 yields I12

Z 1 0

dPn(2)(y) Z 1

0

’

|Pn(1)(x)−P(x)| |Ψn(x, y)|bn1×

× Z

n(τ)

ŒŒ

ŒK(1)t−x bn

‘ŒŒŒ

ŒŒ

ŒKt−y bn

‘ŒŒŒdt

“

dx. (5)

Since sup

0x1|Pn(i)−P(x)| ≤ n2 and|Ψn(x, y)| ≤cbn, we have I1=O(bn/n).

Here and in what followscis the positive constant varying from one formula to another.

In the same manner we may show that I2=O(bn/n).

Therefore

d1(n) = 2σ4bn2 Z 1

0

Z 1 0

Ψ2n(t1, t2)dt1dt2+O 1 nbn

‘

. (6)

It is easy to show also that d1(n) = 2σ4

Z

n(τ)

Z

n(τ)

’ Z xbn1 (x1)bn1

K(u)Kx−y bn −u‘

du

“2

dxdy+O 1 nbn

‘ . Since [−τ, τ]⊂[xb1

n ,bx

n] for allx∈n(τ), we have d1(n) = 2σ4

Z

n(τ)

Z

n(τ)

K02x−y bn

‘

dx dy+O 1 nbn

‘ . But it is easy to see that

bn1d1(n) = 2σ4 Z 1

0

’ Z (1y)/bnτ τy/bn

K02(u)du

“

dy+O(bn) +O 1 nbn

‘ . Therefore

bn1d1(n)4 Z

K02(u)du. (7)

We can directly verify that bn1|d2(n)|≤n2bn3

Xn i=1

Z

i

Z

i

Z

i

Z

i

’ Z

n(τ)

ŒŒ

ŒKx−t1

bn

‘

Kx−t2

bn

‘ŒŒŒdx×

(5)

× Z

n(τ)

ŒŒ

ŒKy−t3

bn

‘

Ky−t4

bn

‘ŒŒŒdy

“

dt1dt2dt3dt4≤c 1

nbn. (8) Statement (1) immediately follows directly from (3), (7), and (8).

Let us now show that (2) holds. We have Dgn(x) = σ2

nb2n Z 1

0

K2x−t bn

‘

dPn(x), where

Pn(x) =n1 Xn

k=1

I(−∞,x)k), θk k, k= 1, . . . , n.

Applying the same argument as in deriving (6), we find Dgn(x) = σ2

nb2n Z 1

0

K2x−t bn

‘

dt+O 1 (nbn)2

‘

. (9)

Furthermore, taking into account that [−τ, τ]⊂[xb1

n ,bx

n] for allx∈n(τ) by (9) we can write

Dgn(x) = σ2 nbn

Z

K2(u)du+O((nbn)2).

Thus

EUn=σ2 Z

K2(u)du+O(bn) +O 1 nbn

‘ .

Theorem 1. Suppose the kernelK(x) satisfies conditions1 and3. If sup

n1

EZn14 <∞ andnb2n→ ∞, then

bn1/2(Un−σ2θ12θ21−→d ξ, where

θ1= Z

K2(u)du, θ22= 2 Z

K02(u)du.

By the symbol −→d we denote the convergence in distribution, ξ is a random variable distributed according to the standard normal distribution.

Proof. Note that

Un−EUn

σn

=Hn(1)+Hn(2), where

Hn(1) = Xn

k=1

ξnk, Hn(2)= nbn

σn

Xn

i=1

(Zni2 −EZni2)Qii.

(6)

Hn(2) converges to zero in probability. Indeed, DHn(2)=(nbn)2

σ2n Xn i=1

EZni4Q2iisup

n1

EZn14 (nbn)2 σn2

Xn i=1

Q2ii = sup

n1

EZn14 |d2(n)| σn2 . This and (8) yield DHn(2) = O(1/(nσn2)) = O(1/(nbn)). Hence Hn(2)

−→P 0.

(By the symbol−→P we denote the convergence in probability).

Now let us prove the convergenceHn(1) d

−→ξ.For this it is sufficient verify the validity of Corollaries 2 and 6 of Theorem 2 from [3]. We will show that the asymptotic normality conditions from the corresponding statement are fulfilled by the sequence nk,Fk(n)}k1 which is a square-integrable martingale-difference according to Lemma 1.

A direct calculation shows that Pn

k=1nk2 = 1. Now the asymptotic normality will take place if for n→ ∞we have

Xn

k=1

E[ξnk2 I(|ξnk| ≥)Fk(n)1]−→P 0 (10) and

Xn k=1

ξ2nk−→P 1. (11)

But, as shown in [3], the validity of (11) together with the condition sup

1knnk|−→P 0 implies the statement (10) as well.

Since for >0 Pˆ

sup

1knnk| ≥‰

≤4 Xn k=1

4nk,

to prove Hn(1)

−→d ξ we have to verify only (11), since relation (12) given below is fulfiled.

Now we will establishPn

k=1ξnk2 −→P 1. It is sufficient to verify that EXn

k=1

ξnk2 2

0 asn→ ∞,i.e., due toPn

k=12nk= 1 EXn

k=1

ξnk2 ‘2

= Xn

k=1

nk4 + 2 X

1k1<k2n

nk2 1ξ2nk2 1.

(7)

First show thatPn

k=14nk0 asn→ ∞. By virtue of the definitions of ξnkandηij we can write

Xn k=1

4nk=In(1)+In(2), where

In(1) =16(nbn)4 σ4n

Xn

k=2

EZnk4

k1

X

j=1

EZnj4 Qjk,

In(2) =48(nbn)4 σ4n

Xn

k=2 kX1

i6=j

EZni2EZnj2 Q2ikQ2jk. On the other hand, since sup

n1

EZn14 < , |Qij| ≤ cbn1n2 and bn1σ2n σ4θ22,we have In(1) =O((nbn)2),In(2)=O(1/(nσ4n)) =O(1/(nb2n)).Hence

Xn

k=1

4nk0, n→ ∞. (12)

Now let us establish that

2 X

1k1<k2n

nk2 1ξ2nk2 1 asn→ ∞.The definition ofξni yields

ξnk2 1·ξnk2 2 =B(1)k1k2+Bk(2)1k2+Bk(3)1k2+Bk(4)1k2, where

Bk(1)1k2=σ2(k12(k2), Bk(2)1k2 =σ2(k11(k2), Bk(3)1k2=σ1(k12(k2), Bk(4)1k2 =σ1(k11(k2),

σ1(k) =X

i6=j

ηikηjk, σ2(k) =

k1

X

i=1

ηik2. Therefore

2 X

1k1<k2n

nk2 1ξnk2 2 = X4 i=1

A(i)n , where

A(i)n = 2 X

1k1<k2n

EBk(i)1k2, i= 1,2,3,4.

(8)

Let us consider the termA(3)n .According to the definition of ηij we have 2ik2ηsk1ηtk1 = 0, s6=t, k1< k2.

Thus

A(4)n = 0. (13)

To estimate the termA(2)n , note that sup

n1

EZn14 <∞and|Qij| ≤cbn1n2. So we obtain

|A(2)n | ≤cnb2n σ4n

Xn k1=2

kX11 i=1

Q2ik1 ≤c 1

n2 =O 1 nbn

‘

. (14)

Now we will verify thatA(1)n 1 asn→ ∞. For this let us representA(1)n

in the form

A(1)n =Dn(1)+D(2)n , where

Dn(1)= 2 X

1k1<k2n

’kX11 i=1

2ik1

“’kX21 j=1

2jk2

“ ,

Dn(2)= 2’ X

k1<k2

Bk(1)1k2 X

k1<k2

’kX11 i=1

2ik1

“’kX21 j=1

jk22

““

. From the definition ofσn2 it follows that

Dn(1)= 1 Xn

k=2

’kX1 i=1

2ik

“2

, where

Xn

k=2

’kX1 i=1

ik2

“2

≤cnbn

σn

‘4Xn k=2

’kX1 i=1

Q2ik

“2

≤c 1

n4 =O 1 nb2n

‘ . Therefore

D(1)n 1 as n→ ∞. (15)

Next we will show thatD(2)n 0 asn→ ∞.It is easy to verify that D(2)n = 2 X

k1<k2

”kX11 i=1

cov(η2ik1, ηik22) +

kX11 i=1

cov(ηik21, η2k1k2)

• .

(9)

But

2ik1ηik22 ≤cnbn

σn

‘4

Q2ik1Q2ik2 ≤c 1 n4σn4. Similarly,

ij2 =O(n2σn2).

Therefore

cov(η2ik1, η2ik2) =O((nσn)4). (16) Furthermore, sinceP

1k1<k2n(k11) =O(n3), equation (16) implies D(2)n =O 1

n4

‘

=O 1 nb2n

‘

. (17)

Thus, according to (15) and (17),

A(1)n = 1 +O 1 nb2n

‘

. (18)

Finally, we will show thatA(4)n 0 as n→ ∞.Again, by the definition of ηij we can write

|A(4)n |= 4

ŒŒ

ŒŒ X

k1<k2

kX11 t<s

sk1ηtk1ηsk2ηtk2

ŒŒ

ŒŒ

≤cnbn

σn

‘4”ŒŒŒ X

s,t,k1,k2

Qsk1Qsk2Qtk1Qtk2

ŒŒ

Œ+ +ŒŒŒX

k,s,t

Q2ksQ2ktŒŒŒ+ŒŒŒX

k,s,t

QktQstQksQss

ŒŒ

Œ

•

=

=cnbn

σn

‘4‚

|En(1)|+|En(2)|+|En(3)|ƒ

. (19)

By the same argument as in (4), it can be shown that En(1)=n7bn8X

s,t,k

Ψns(1), θk(2)nt(1), θk(2))×

× Z 1

0

Ψns(1), u)Ψnt(1), u)dPn(1)(u).

Hence, integrating by parts and taking into account that sup|Ψn(t1, t2)| ≤ cbn and sup|K(1)(u)|<∞,we obtain

En(1)=n7bn8 Z 1

0

X

s,t,k

Ψns(1), θk(2)nt(1), θk(2))×

(10)

×Ψn(1)s , u)Ψn(1)t , u))du=O 1 n5b4n

‘

. (20)

In the same manner, we can rewrite (20) as En(1)=n4bn8

Z 1 0

Z 1 0

Z 1 0

Z 1 0

Ψn(z, u)Ψn(z, t)Ψn(y, u)×

×Ψn(y, t)du dt dy dz+O(n5bn4).

It is easy to verify that n4bn8

Z 1 0

Z 1 0

Z 1 0

Z 1

0 |Ψn(z, u)Ψn(z, t)Ψn(y, u)Ψn(y, t)|du dt dy dz≤

≤cn4bn2 Z

n(τ)

Z

n(τ)

ŒŒ

ŒK0

x−v bn

‘ŒŒŒdx dv≤cn4bn1. Thus

nbn

σn

‘4

En(1)=O(bn) +O 1 nb2n

‘

. (21)

Furthermore, it is not difficillt to show

(nbn)4σn4En(2)=O 1 nb2n

‘

and

(nbn)4σn4E(3)n =O 1 nb2n

‘

. (22)

Therefore (19), (21), and (22) imply

A(4)n 0 as n→ ∞. (23)

Combining relations (12), (13), (14), (18), and (23), we obtain E

’Xn k=1

ξnk2 1

“2

0 as n→ ∞. Therefore

Un−EUn

σn

−→d ξ.

But, due to Lemma 2, we have EUn = σ2θ1+O(bn) +O((nbn)1) and bn1σn2→σ4θ22,and hence we obtain

bb1/2Un−σ2θ1

σ2θ2

‘ d

−→ξ.

(11)

Let us denote by

Tn=nbn

Z

n(τ)

[gn(x)−g(x)]2dx.

Theorem 2. Suppose g(x) Fs, s 2 and K(x) satisfies conditions 13. If, in addition,sup

n1EZn14 <∞, nb2n → ∞andnb2sn 0, then bn1/2(Tn−σ2θ12θ21−→d ξ.

Proof. Note that

Tn =Un+d(1)n +d(1)n , where

d(1)n = 2nbn

Z

n(τ)

[gn(x)−Egn(x)] [Egn(x)−g(x)]dx, d(2)n =nbn

Z

n(τ)

[Egn(x)−g(x)]2dx.

It is easy to verify that Egn(x)−g(x) =bn1

Xn i=1

Z

i

Kx−t bn

‘dx gi n

‘−g(x) =

=bn1 Z 1

0

Kx−t bn

‘

[egn(t)−g(t)]dt+ +bn1

Z 1 0

Kx−t bn

‘

[g(t)−g(x)]dt, x∈n(τ), (24) with

e gn(x) =

Xn i=1

gi n

‘

Ii(x), ∆i=hi−1 n , i

n i

. But

sup

0x1|egn(x)−g(x)| ≤ max

1in sup

xi

ŒŒ

Œgi n

‘−g(x)ŒŒŒ=

= max

1in sup

xi

ŒŒ

Œi

n−xŒŒŒ|g0i)|=O1 n

‘

, τii.

Therefore the second term in (24) is O(n1). Since g(x) Fs and K(x) satisfies conditions 1–3,we have

sup

xn(τ)

ŒŒ

ŒŒ Z 1

0

Kx−t bn

‘

[g(t)−g(x)]dt

ŒŒ

ŒŒ=

(12)

= bsn

(s1)! sup

xn(τ)

ŒŒ

ŒŒ Z τ

τ

Z 1 0

(1−t)s1g(s)(x+tubn)usK(u)du

ŒŒ

ŒŒ≤cbsn.(25) Thus from (24) and (25) it follows that

sup

xn(τ)|Egn(x)−g(x)| ≤c bsn+ 1

n

‘

. (26)

Therefore

bn1/2d(2)n ≤c€ nb2snp

bn+bs+1/2n +n1p bn

. (27) On the other hand, (9) and (26) yield

bn1/2E|d(1)n | ≤nb1/2n

š Z

n(τ)

E(gn(x)−Egn(x))2dx×

× Z

n(τ)

(Egn(x)−g(x))2dx

›1/2

≤c√

nbs. (28)

Finally, the statement of Theorem 2 follows directly from Theorem 1, (27) and (28).

Using Theorem 2, it is easy to solve the problem of testing the hypothesis aboutg(x). Givenσ2, it is required to verify the hypothesis

H0:g(x) =g0(x), x∈n(τ).

The critical region is defined approximately by the inequality Tn0=nbn

Z

(gn(x)−g0(x))2dx≥qn(α), (29) where

qn(α) =σ2€ θ1+λα

pbnθ2

, θ1= Z

K2(u)du, θ22= 2 Z

K02(u)du, and λα is the quantile of level 1−αof the standard normal distribution, i.e.,

Φ(λα) = 1−α, Φ(u) = (2π)1/2 Z u

−∞

exp

−x2 2

‘dx.

Suppose now thatσ2is unknown. We will use thebn1/2-consistent estimate of varianceσ2(see, for example, [5]):

Sn2= 1 2(n1)

nX1 i=1

(Yi+1−Yi)2, Yi≡Yni.

(13)

Indeed,

ESn2= 1 2(n1)

n1

X

i=1

2i + 1 2(n1)

n1

X

i=1

hgi−1 n

‘−gi n

‘i2

, wherei=Zi+1−Zi,Zi≡Zni.Moreover, since2i = 2σ2,we can write

ESn2=σ2+ 1 2(n1)

1 n2

n1

X

i=1

(g(1)i))2=σ2+O(n2).

To calculate the variance, it is sufficient to note that E(Sn2−σ2)2= 1

4(n1)2

nX1 i=1

4i+O(n2)−σ2+ 1 4(n1)2

X

i6=j

2i2j=

= 1

4(n1)2

nX1

i=1

4i +(n2)(n3)

4(n1)2 (2σ2)2−σ4+O(n1) =

= 1

4(n1)2

nX1

i=1

4i +O(n1).

Since sup

n1

EZn14 <∞,this yields E(Sn2−σ2)2=O(n1).Therefore bn1/2(Sn2−σ2)−→P 0.

Corollary. Under the conditions of Theorem 2 bn1/2Tn0−Sn2θ1

Sn2θ2

‘ d

−→ξ.

This corollary enables us to construct a test for verifying H0:g(x) =g0(x).

The critical region is defined approximately by the inequality Tn0eqn(α), whereqen(α) is obtained fromqn(α) by usingSn2 instead ofσ2.

Consider now the asymptotic properties of test (29) (i.e., the asymptotic behaviour of the power function asn→ ∞). First, let us study the question whether the corresponding test is consistent.

Theorem 3. Under the conditions of Theorem 2 Πn(g1) =PH1(Tn0≥qn(α))1, n→ ∞, i.e., the test defined by (29)is consistent under any alternatives

H1:g(x) =g1(x)6=g0(x), ∆ = Z 1

0

(g1(x)−g0(x))2dx >0.

(14)

Proof. Denote Zn(g1) =bn1/2

’ nbn

Z

n(τ)

(gn(x)−g1(x))2dx−σ2θ1

“

σ2θ21. It is easy to show that

Πn(g1) =PH1

ˆZn(g1)≥ −nb1/2n21σ2∆ +op(1))‰ .

Since Zn(g1) is asymptoticaly normally distributed with parameters (0,1) under hypothesis H1, nb1/2n → ∞ and ∆ > 0, we have Πn(g1) 1 as n→ ∞.

Thus under any fixed alternative the power of test (29) tends to 1 asn→

∞. Nevertheless, if the alternative hypothesis varies with n and becomes

“closer” to the null hypothesisH0,the power of the test may not converge to 1 depending on the rate at which the alternative approaches the null hypothesis. In our case the sequence of “close” alternatives has the form

Hn:egn(x) =g0(x) +γnφ(x) +o(γn). (30) Theorem 4. Suppose g0(x) and ϕ(x) are from Fs, but K(x) satisfies coditions 1–3 andsup

n1

EZn14 <∞. Ifbn =nδn =n1/2+δ/4,1/2s <

δ <1/2, then under alternativesHn the statistic bn1/2(Tn0−θ1σ22θ21

has the limiting normal distribution with parameters(σ21θ2

R1

0 ϕ2(x)dx,1).

Proof. Let us representTn0 as the sum Tn0=nbn

Z

n(τ)

(gn(x)−gen(x))2dx+nbn

Z

n(τ)

(egn(x)−g0(x))2dx+ +2nbn

Z

n(τ)

(gn(x)egn(x))(gen(x)−g0(x))dx=Tn1+A1(n) +A2(n).

It is easy to check that

bn1/2A1(n) = Z 1

0

ϕ2(u)du+O(nδ). (31) Let us introduce the random variable

dn = Z

n(τ)

(gn(x)−E1gn(x))ϕ(x)dx.

参照

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