Stokes equations with penalised slip boundary conditions

We consider the finite-element approximation of Stokes equations with slip boundary conditions imposed with the penalty method. In the case of a smooth curved boundary, our numerical results suggest that curved finite elements, regularised normal vectors or reduced integration techniques can be used to avoid a Babuska’s-type paradox and ensure the convergence of finite-element approximations to the exact solution. Convergence orders with these remedies are also compared.