In time-series analysis, an autoregressive model is used to predict future values based on past values. The model can be represented as:
$$ Y_t = \alpha + \beta_1 Y_{t-1} + \beta_2 Y_{t-2} + ... + \beta_p Y_{t-p} + \epsilon_t $$
where:
Which of the following statements is true about autoregressive models?