A stable and accurate Davies-like relaxation procedure using multiple penalty terms for lateral boundary conditions

A lateral boundary treatment using summation-by-parts operators and simultaneous approximation terms is introduced. The method is similar to Davies relaxation technique used in the weather prediction community and have similar areas of application, but is also provably stable. In this paper, it is shown how this technique can be applied to the shallow water equations, and that it reduces the errors in the computational domain.