Finite element error analysis of wave equations with dynamic boundary conditions: $L^2$ estimates

Abstract: $L^2$ norm error estimates of semi- and full discretisations, using bulk--surface finite elements and Runge--Kutta methods, of wave equations with dynamic boundary conditions are studied. The analysis resides on an abstract formulation and error estimates, via energy techniques, within this abstract setting. Four prototypical linear wave equations with dynamic boundary conditions are analysed which fit into the abstract framework. For problems with velocity terms, or with acoustic boundary conditions we prove surprising results: for such problems the spatial convergence order is shown to be less than two. These can also be observed in the presented numerical experiments.