A new non-linear AR(1) time series model having approximate beta marginals

We consider the mixed AR(1) time series model $$X_t=\left\{\begin{array}{ll}\alpha X_{t-1}+ \xi_t \quad {\rm w.p.} \qquad \frac{\alpha^p}{\alpha^p-\beta ^p},\\ \beta X_{t-1} + \xi_{t} \quad {\rm w.p.} \quad -\frac{\beta^p}{\alpha^p-\beta ^p} \end{array}\right.$$ for ?1 < β ^p ≤ 0 ≤ α ^p  < 1 and α ^p ? β ^p  > 0 when X _t has the two-parameter beta distribution B₂(p, q) with parameters q > 1 and ${p \in \mathcal P(u,v)}$ , where $$\mathcal P(u,v) = \left\{u/v : u < v,\,u,v\,{\rm odd\,positive\,integers} \right\}.$$ Special attention is given to the case p = 1. Using Laplace transform and suitable approximation procedures, we prove that the distribution of innovation sequence for p = 1 can be approximated by the uniform discrete distribution and that for ${p \in \mathcal P(u,v)}$ can be approximated by a continuous distribution. We also consider estimation issues of the model.