Fast and Robust Numerical Solution of the Richards Equation in Homogeneous Soil

We derive and analyze a solver-friendly finite element discretization of a time discrete Richards equation based on Kirchhoff transformation. It can be interpreted as a classical finite element discretization in physical variables with nonstandard quadrature points. Our approach allows for nonlinear outflow or seepage boundary conditions of Signorini type. We show convergence of the saturation and, in the nondegenerate case, of the discrete physical pressure. The associated discrete algebraic problems can be formulated as discrete convex minimization problems and, therefore, can be solved efficiently by monotone multigrid methods. In numerical examples for two and three space dimensions we observe $L^2$-convergence rates of order $\mathcal{O}(h^2)$ and $H^1$-convergence rates of order $\mathcal{O}(h)$ as well as robust convergence behavior of the multigrid method with respect to extreme choices of soil parameters.