Noise conditions for prespecified convergence rates of stochastic approximation algorithms

We develop deterministic necessary and sufficient conditions on individual noise sequences of a stochastic approximation algorithm for the error of the iterates to converge at a given rate. Specifically, suppose {/spl rho//sub n/} is a given positive sequence converging monotonically to zero. Consider a stochastic approximation algorithm x/sub n+1/=x/sub n/-a/sub n/(A/sub n/x/sub n/-b/sub n/)+a/sub n/e/sub n/, where {x/sub n/} is the iterate sequence, {a/sub n/} is the step size sequence, {e/sub n/} is the noise sequence, and x* is the desired zero of the function f(x)=Ax-b. Then, under appropriate assumptions, we show that x/sub n/-x*=o(/spl rho//sub n/) if and only if the sequence {e/sub n/} satisfies one of five equivalent conditions. These conditions are based on well-known formulas for noise sequences: Kushner and Clark's (1978) condition, Chen's (see Proc. IFAC World Congr., p.375-80, 1996) condition, Kulkarni and Horn's (see IEEE Trails Automat. Contr., vol.41, p.419-24, 1996) condition, a decomposition condition, and a weighted averaging condition. Our necessary and sufficient condition on {e/sub n/} to achieve a convergence rate of {/spl rho//sub n/} is basically that the sequence {e/sub n///spl rho//sub n/} satisfies any one of the above five well-known conditions. We provide examples to illustrate our result. In particular, we easily recover the familiar result that if a/sub n/=a/n and {e/sub n/} is a martingale difference process with bounded variance, then x/sub n/-x*=o(n/sup -1/2/(log(n))/sup /spl beta//) for any /spl beta/>1/2.