Rate-Optimal Non-Asymptotics for the Quadratic Prediction Error Method

We study the quadratic prediction error method – i.e., nonlinear least squares – for a class of time-varying parametric predictor models satisfying a certain identifiability condition. While this method is known to asymptotically achieve the optimal rate for a wide range of problems, there have been no non-asymptotic results matching these optimal rates outside of a select few, typically linear, model classes. By leveraging modern tools from learning with dependent data, we provide the first rate-optimal non-asymptotic analysis of this method for our more general setting of nonlinearly parametrized model classes. Moreover, we show that our results can be applied to a particular class of identifiable AutoRegressive Moving Average (ARMA) models, resulting in the first optimal non-asymptotic rates for identification of ARMA models.