Under the sequential exogeneity assumption (18.6), we have $E(u_t|z_t, z_{t-1},...,z_1) = 0$. However, $v_t = u_t - \rho u_{t-1}$, so $E(v_t|z_t, z_{t-1},...,z_1) = E(u_t - \rho u_{t-1}|z_t, z_{t-1},...,z_1) = -\rho E(u_{t-1}|z_t, z_{t-1},...,z_1)$. Since
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