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A càdlàg modification of a stochastic process is a modification of a stochastic process whose paths are càdlàg on one event of probability one. Equality almost surely at every separately fixed time does not imply indistinguishability of stochastic processes when the original process lacks path regularity. A stochastic process starting at zero, with independent increments, stationary increments, and stochastic continuity, has a càdlàg modification and is a Lévy process under the intrinsic definition.

For a L2-bounded continuous martingale, the terminal and maximal norms satisfyThe first inequality follows from almost sure convergence. Apply the Doob L2 maximal inequality on $[0,T]$ and then the monotone convergence theorem as $T\to \infty$ for the second. These are equivalent norms on the space modulo indistinguishability of stochastic processes; neither inequality needs a zero initial value.

Processes $X,Y$ on the same probability space and index set are modifications of each other if $\mathbb{P}(X_t=Y_t)=1$ for each fixed index $t$. This differs from indistinguishability of stochastic processes, which requires equality at all indices on a single event of probability one. Equality at a countable dense set upgrades to indistinguishability when both processes have continuous paths.

The initial-value convention is essential. A continuous finite-variation local martingale is constant, so the conclusion is $M_t=M_0$ up to indistinguishability of stochastic processes. The stated zero conclusion uses the usual zero-start convention $M_0=0$; without it, $M_t\equiv 1$ is a counterexample.

Put $N=M-M_0$. Let $V_t$ be its total-variation process, and stop when either $|N|$ or $V$ reaches $n$. The resulting process $N^{{\tau }_n}$ is a bounded continuous local martingale, hence a true martingale, and its total variation on every time interval is bounded by $n$. Fix $t$ and take deterministic partitions $0=t_0<\cdots <t_k=t$ whose mesh tends to zero. Orthogonality of martingale increments givesPathwise,by uniform continuity of a continuous path on $[0,t]$. The sums are bounded by $2n^2$, so the dominated convergence theorem makes their expectations tend to zero. Hence $N_t^{{\tau }_n}=0$ almost surely. Take the countable intersection over rational $t$ and integer $n$, use path continuity, and then let $n\to \infty$. The stopping times tend to infinity because the original path and its finite variation are bounded on every compact time interval. Thus

As with quadratic variation, the increasing process must be normalized by $A_0=0$. Suppose $A,A^{\prime }$ have this initial value and both $M^2-A$ and $M^2-A^{\prime }$ are continuous local martingales. Since $M^2$ and these differences are continuous, both $A$ and $A^{\prime }$ are continuous. Their difference is a finite-variation process, andis a continuous local martingale. The result proved in part (a) makes this difference constant. Its initial value is zero, so $A$ and $A^{\prime }$ are indistinguishable. This is the uniqueness of an increasing square compensator; it uses no existence argument.

If no initial-value normalization is imposed, the literal uniqueness assertion is false: whenever $A$ works, $A+c$ works for every deterministic constant $c$, since subtracting a constant preserves the local martingale property. The exact unnormalized conclusion is $A_t-A_t^{\prime }=A_0-A_0^{\prime }$ for all $t$, up to indistinguishability of stochastic processes.

Set $N_t={\int }_0^t{Z}_s^{-1}d{Z}_s$, the stochastic logarithm of $Z$. On each finite horizon, a strictly positive continuous path has its reciprocal bounded; stopping at levels of $Z$, $Z^{-1}$ and $[Z]$ rigorously localizes this stochastic integral. Thus $N$ is a zero-start continuous local martingale, withThe Itô formula for the ordinary logarithm givesAccordingly, with the exponential convention printed in this question,The initial constant in $M$ contributes no quadratic variation. Under the standard normalized Doléans-Dade exponential convention, which subtracts the driver's initial value in the exponent, the same formula is written $Z=Z_0\mathcal{E}(N)$.

For uniqueness, suppose another continuous driver $L$ gives the printed exponential. Evaluating at zero forces $L_0=\log Z_0$. Applying the Itô formula to its exponential gives $d{Z}_t=Z_{t}d{L}_t$. Since $Z_t>0$, associativity of stochastic integration yields $d{L}_t=Z_t^{-1}d{Z}_t$. Thus $L_t=L_0+N_t=M_t$, up to indistinguishability of stochastic processes.

There is an initial-integrability qualification if “local martingale” is used with the usual integrable-initial-value definition. The displayed $M$ is a continuous local martingale when $\log Z_0\in L^1$, in particular when $Z_0$ is a positive deterministic number. An arbitrary positive integrable $Z_0$ does not ensure this. For example, take an ${\mathcal{F}}_0$-measurable positive integer $W$ with $\mathbb{P}(W=n)=6/({\pi }^2{n}^2)$ and put $Z_t=e^{-W}$ for all $t$. This is a bounded strictly positive martingale, but any representing driver must have $M_0=-W$, which is not integrable. Thus the unqualified claim is false under that definition. For general $Z_0$, the always-valid local-martingale statement is the zero-start representation $Z=Z_0\mathcal{E}(N)$; the printed representation additionally requires the stated integrability or the convention that allows arbitrary finite initial constants.

Put $U=M-\frac{1}{2}[M]$. Since the bracket is continuous finite variation, $[U]=[M]$. The Itô formula applied to $Z=e^U$ givesThereforeWith the printed exponential formula, $Z_0=e^{M_0}$. The usual unit-initial-value stochastic exponential is $\exp (M_t-M_0-\frac{1}{2}[M{]}_t)$; the two coincide when $M_0=0$, as in part (c).

For any strictly positive solution of this stochastic equation, its bracket is $d[Z{]}_t=Z_t^{2}d[M{]}_t$. Applying Itô to the logarithm, after localizing away from zero if necessary, givesThe same identity holds for $Z^{\prime }$, so $\log Z_t^{\prime }-\log Z_t$ is constant in time and is zero initially. Their continuous versions agree at all times on one full-probability event. Thus pathwise uniqueness for a multiplicative martingale equation givesThis is indistinguishability of stochastic processes, not just equality almost surely at each separately chosen time.

For each deterministic $a>0$, the Brownian reflection principle givesso $H_a$ is finite almost surely; $H_0=0$. Here $\Phi$ is the standard normal cumulative distribution function. The same reflection formula at levels decreasing to zero gives $\mathbb{P}({\sup }_{s\le \epsilon }{X}_s\le 0)=0$ for every $\epsilon >0$. Taking a countable intersection over $\epsilon =1/n$ shows that Brownian motion exceeds zero arbitrarily soon after its start.

By the Strong Markov property at the finite stopping time $H_a$, the process $X_{H_a+t}-a$ is fresh standard Brownian motion. It therefore exceeds zero arbitrarily soon. Path continuity gives $S_a\ge H_a$, and the preceding fact gives the reverse inequality. ConsequentlyThe exceptional event may depend on $a$; this does not imply simultaneous equality for all levels.

To exhibit the difference, set $A={\max }_{0\le t\le 1}{X}_t$, a random level. The reflection formula gives $A>0$ almost surely. Also $A>X_1$ almost surely: if $X_1$ were the maximum, the reversed increment process $Y_s=X_1-X_{1-s}$ would be nonnegative throughout $[0,1]$. This process has the law of standard Brownian motion, whose probability of staying nonnegative from zero is zero by reflection and symmetry. The level $A$ is attained at some time strictly before one, so $H_A<1$. It is not exceeded by time one, and continuity with $X_1<A$ gives a further positive interval before it can be exceeded. ThusAll these passage times exist simultaneously on the probability-one event where the Brownian path is continuous and unbounded above, obtained by intersecting the finite-hitting events for positive integer levels.

The illustration shows the pathwise mechanism. The Brownian running maximum stays flat during an excursion below an attained record. The non-strict inverse chooses the beginning of that plateau, while the strict generalized inverse of a nondecreasing function chooses its end. The curve is a schematic of this mechanism, not a claim of piecewise linear Brownian paths. The fixed-level equalities give the modification of a stochastic process relation, while the random-level discrepancy rules out indistinguishability of stochastic processes. This is fixed-level versus simultaneous Brownian passage-time equality.

A version of a stochastic process means a stochastic process on the same probability space such that, for every fixed $t$,The exceptional null set may depend on $t$. Indistinguishability of stochastic processes means that there is one null set outside which $X_t=Y_t$ for all $t\ge 0$ simultaneously.

For an example separating the definitions, let $U$ have uniform distribution on $(0,1)$, and setFor every fixed $t$, $\mathbb{P}(U=t)=0$, so $Y$ is a version of a stochastic process with original stochastic process $X$. But for every sample outcome the stochastic processes differ at its time $t=U$. HenceThe spike path of $Y$ is not right-continuous at $U$, which explains why the next part's regularity assumption rules out this example.

Uniqueness in law means that any two weak stochastic solutions with the same prescribed initial distribution have the same distribution as random elements of the continuous-path space. Their probability spaces and driving Brownian motions may differ.

Pathwise uniqueness means that if two solutions are defined on the same filtered probability space, driven by the same Brownian motion, and have the same initial variable almost surely, thenThis is indistinguishability of stochastic processes, a statement about coupled sample paths. It is stronger than requiring only equality of their distributions.

Use two standard results: for every continuous local martingale $U$, there is a unique continuous adapted increasing quadratic variation $[U]$, starting at zero, such that $U^2-U_0^2-[U]$ is a local martingale; and a continuous finite-variation local martingale is constant.

Define the quadratic covariation by the polarization identityThis is continuous, adapted, starts at zero, and is of finite variation on compact time intervals. Since $(M+N{)}^2-(M-N{)}^2=4MN$, subtraction of the two quadratic-variation identities shows that $MN-M_0{N}_0-[M,N]$ is a continuous local martingale. In the zero-start convention this is exactly $MN-[M,N]\in {\mathcal{M}}_{c,\mathrm{loc}}$.

If $A$ is another continuous adapted finite-variation process with $A_0=0$ and the same local martingale property, then $A-[M,N]$ is both a continuous local martingale and of finite variation. It is constant, and its initial value is zero, so it vanishes. Uniqueness is up to indistinguishability of stochastic processes.

The normalization $[M,N{]}_0=0$ is essential. If arbitrary nonzero initial constants are allowed in the martingale class and this normalization is omitted, adding a constant to the bracket preserves the claimed property. The usual definition of quadratic covariation always includes the zero initial value.

Fix a deterministic $a\ge 0$. By the Strong Markov property at the finite Brownian first-passage time $H_a$, the process ${\tilde{B}}_s=B_{H_a+s}-a$ is a standard Brownian motion started at zero. Such a process takes positive values arbitrarily soon almost surely: for every $\epsilon >0$, the Brownian reflection principle makes its maximum on $[0,\epsilon ]$ have the distribution of $|B_{\epsilon }|$, so the probability that the maximum is zero is zero. Intersecting these events for $\epsilon =1/n$ gives an infimum of positive-crossing times equal to zero. ThereforeThe infimum defining the strict crossing time need not itself be a time when $B_t>a$; continuity gives $B_{T_a}=a$. The quantifier here is fixed-level almost sure equality, not indistinguishability of stochastic processes as the level varies.

Write $N_2=\Vert M_{\infty }{\Vert }_2$ and $N_{\ast }=\Vert {\sup }_{t\ge 0}|M_t|{\Vert }_2$. The L2 martingale convergence theorem ensures the existence of $M_{\infty }$ and yields $|M_{\infty }|\le {\sup }_t|M_t|$ almost surely. Hence $N_2\le N_{\ast }$.

For a finite horizon $T$, the Doob L2 maximal inequality for the submartingale $|M|$ givesThe inequality does not require $M_0=0$. Send $T$ to infinity: the left side increases to $N_{\ast }^2$ by the monotone convergence theorem, and the right side tends to $4N_2^2$ by convergence in the Lebesgue space $L^2$. Thus the equivalent terminal and maximal norms for L2-bounded continuous martingales satisfyBoth are genuine norms on L2-bounded continuous martingales modulo indistinguishability of stochastic processes: a zero terminal norm gives $M_t=\mathbb{E}[M_{\infty }\mid {\mathcal{F}}_t]=0$, first at rational times and then at all times by continuity. This proves that the two norms are equivalent norms.

Fix a L2-bounded continuous martingale $M$. Its quadratic-variation measure on the predictable sigma-algebra isIt is finite, since ${\nu }_M(\Omega \times [0,\infty ))=\mathbb{E}[M{]}_{\infty }=\mathbb{E}{M}_{\infty }^2-\mathbb{E}{M}_0^2$. The source Hilbert space is $L^2(M)=L^2(\Omega \times [0,\infty ),\mathcal{P},{\nu }_M)$: predictable processes with finite $\mathbb{E}\int H^{2}d[M]$, identified when equal ${\nu }_M$-almost everywhere. Its norm is $\Vert H{\Vert }_{L^2(M)}^2=\mathbb{E}\int H^{2}d[M]$.

The target ${\mathcal{M}}_0^2$ consists of L2-bounded continuous martingales starting at zero, identified up to indistinguishability of stochastic processes, with norm $\Vert K{\Vert }_{{\mathcal{M}}_0^2}=\Vert K_{\infty }{\Vert }_2$. It is a Hilbert space: terminal values belong to the closed linear subspace of $L^2({\mathcal{F}}_{\infty })$ whose conditional expectation given ${\mathcal{F}}_0$ is zero and whose associated martingales have continuous versions. Closure of that continuous-version subspace follows from the Doob L2 maximal inequality and an almost surely uniformly convergent subsequence.

The Itô isometry says that integration extends uniquely from simple predictable processes to a linear isometry $L^2(M)⟶{\mathcal{M}}_0^2$, withFor every finite $t$, the same identity holds with the integral restricted to $[0,t]$ and the left side $\mathbb{E}|(H\cdot M{)}_t{|}^2$. No claim of surjectivity onto all of ${\mathcal{M}}_0^2$ is needed: that would require an additional Martingale representation theorem.

Use polarization identity of the quadratic variations:This is continuous and adapted, starts at zero, and has finite variation on every compact interval because it is a difference of two nondecreasing processes. The defining quadratic variation property gives that $(M+N{)}^2-[M+N]$ and $(M-N{)}^2-[M-N]$ are continuous local martingales; their difference divided by four is $MN-[M,N]$. This proves existence without assuming a product formula involving an as yet undefined quadratic covariation.

If $C$ and $D$ both satisfy the requirements, $C-D$ is a continuous finite-variation process and a local martingale. By continuous finite-variation local martingale is constant, it is constant; its initial value is zero, so $C=D$ up to indistinguishability of stochastic processes.

There is a minor initial-value convention in this characterization. The displayed uncentred local martingale identity is directly valid when $M_0=N_0=0$, or when the initial terms have the requisite integrability. With arbitrary finite initial values, centre the quadratic variation construction and use $MN-M_0{N}_0-[M,N]$, which starts at zero. Adding back $M_0{N}_0$ requires it to be integrable under the usual definition of a local martingale; the quadratic covariation itself is unaffected by centring.

Let $X,Y$ be two continuous solutions on the same filtered probability space, driven by the same Brownian motion and with $X_0=Y_0$ almost surely. Write $D=X-Y$ and choose a common Lipschitz constant $L$ for $b,\sigma$. Introduce the stopping time ${\tau }_n=\inf \{t\ge 0:|X_t|+|Y_t|\ge n\}$. On $\{{\tau }_n=0\}$ the stopped difference is zero; before ${\tau }_n$, both coefficients and the difference are bounded.

The Itô formula and the zero expectation of the stopped square-integrable Itô integral yieldThe Gronwall inequality implies $\mathbb{E}{D}_{t\wedge {\tau }_n}^2=0$. Continuous solution paths are bounded on each compact time interval, so ${\tau }_n\uparrow \infty$ almost surely. Letting $n\to \infty$ proves $X_t=Y_t$ almost surely at each fixed time, and a countable dense set of times together with continuity gives indistinguishability of stochastic processes. Therefore the stochastic differential equation has pathwise uniqueness.

The usual quadratic variation convention includes $⟨M{⟩}_0=0$. If $A,C$ are two continuous finite-variation processes with $A_0=C_0=0$ such that $M^2-A$ and $M^2-C$ are continuous local martingales, then $A-C$ is a continuous local martingale of finite variation. It must be constant, and its initial value is zero, so $A=C$ up to indistinguishability of stochastic processes.

Here is a proof of the fact used. Subtract the initial value of a continuous local martingale $N$ of finite variation, and stop so that both $|N|$ and its total-variation process are bounded by deterministic constants. The stopped local martingale is a bounded true martingale, so orthogonality of its increments gives, on any deterministic partition of an interval of $[0,t]$,Continuity and the dominated convergence theorem justify the last limit. Remove stopping and use continuity on a countable dense set of times to conclude $N\equiv 0$.

As literally printed, uniqueness is false without normalization. If $A$ works then $A+c$ also works for any deterministic constant $c$, since subtracting a constant preserves the local martingale property; this is a genuine omitted convention.

With normalization, existence always holds for a continuous local martingale. Its quadratic variation $[M]$, obtained as the limit in probability of squared increments, is continuous, increasing, starts at zero and satisfies $M^2-[M]$ is a continuous local martingale, so taking $⟨M⟩=[M]$ supplies the required finite-variation process.

Let $L=N-H\cdot M$. It is a continuous square-integrable martingale, and the assumed bracket identity givesfor every continuous square-integrable martingale $K$. Choose $K=L$ and use part (i):Thus $L_{\infty }=0$ almost surely, and the conditional expectation property gives $L_t=\mathbb{E}[L_{\infty }\mid {\mathcal{F}}_t]=0$ for every $t$. Hence $N=H\cdot M$ up to indistinguishability of stochastic processes.

For continuous semimartingales and $Q\ll P$, their quadratic covariation has the same version under the two probability measures, up to $Q$-indistinguishability of stochastic processes. The dyadic product sums have the same limit by uniform convergence on compacts in probability under an absolutely continuous measure change. Uniqueness of a limit in probability identifies that limit with the bracket under $Q$. Semimartingale stability under an absolutely continuous measure change supplies the correct class under $Q$: a local martingale need not remain a local martingale. Taking the two processes equal proves the same statement for quadratic variation without a separate assumption.

Two Ornstein-Uhlenbeck processes with the same driving Brownian motion have the displayed difference. If $Y_0$ is standard normal and independent of future Brownian increments, replacing it by $-Y_0$ produces another stationary process with the same covariance and second moment, but a different pathwise coupling. Equal initial values are necessary for indistinguishability of stochastic processes.