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A multiple linear regression with p+1 parameters and p input data from previous p data. This is called Autoregressive(AR) model of order p.
In notation: AR(p)
Another form:
Eg: If we have 10 data and chooise p =3, we use
$y_1,y_2,y_3$ to predict $y_4$
$y_2,y_3,y_4$ to predict $y_5$
$y_3,y_4,y_5$ to predict $y_6$
and so on.
We often use Least-Square Method to find the parameters