We characterize the Lyapunov exponent and ergodicity of nonlinear stochastic recursion models, including nonlinear AR-GARCH models, in terms of an easily defined, uniformly ergodic process. Properties of this latter process, known as the collapsed process, also determine the existence of moments for the stochastic recursion when it is stationary. As a result, both the stability of a given model and the existence of its moments may be evaluated with relative ease. The method of proof involves piggybacking a Foster-Lyapunov drift condition on certain characteristic behavior of the collapsed process.

We use a discrete-time analysis, giving necessary and sufficient conditions for the almost-sure convergence of ARCH(1) and GARCH(1,1) discrete-time models, to suggest an extension of the ARCH and GARCH concepts to continuous-time processes. Our ‘COGARCH’ (continuous-time GARCH) model, based on a single background driving Lévy process, is different from, though related to, other continuous-time stochastic volatility models that have been proposed. The model generalises the essential features of discrete-time GARCH processes, and is amenable to further analysis, possessing useful Markovian and stationarity properties.

Following Tweedie (1988), this paper constructs a special test function which leads to sufficient conditions for the stationarity and finiteness of the moments of a general non-linear time series model, the double threshold ARMA conditional heteroskedastic (DTARMACH) model. The results are applied to two well-known special cases, the GARCH and threshold ARMA (TARMA) models. The condition for the finiteness of the moments of the GARCH model is simple and easier to check than the condition given by Milhøj (1985) for the ARCH model. The condition for the stationarity of the TARMA model is identical to the condition given by Brockwell et al. (1992) for a special case, and verifies their conjecture that the moving average component does not affect the stationarity of the model. Under an additional irreducibility assumption, the geometric ergodicity of the GARCH and TARMA models is also established.