Convex risk measures and the dynamics of their penalty functions

SUMMARY We study various properties of a dynamic convex risk measure for bounded random variables which describe the discounted terminal values of financial positions. In particular we characterize time-consistency by a joint supermartingale property of the risk measure and its penalty function. Moreover we discuss the limit behavior of the risk measure in terms of asymptotic safety and of asymptotic precision, a property which may be viewed as a non-linear analogue of martingale convergence. These results are illustrated by the entropic dynamic risk measure.