TOPMODEL: A critique

TOPMODEL (a TOPography based hydrological MODEL) is now 20 years old and has been the subject of numerous applications to a wide variety of catchments. This paper represents a critical review of some of the issues involved in application of the TOPMODEL concepts, including the basic assumptions involved; the derivation of topographic index distributions from digital terrain data; additional model components; meaning and calibration of the model parameters; and issues involved in model validation and predictive uncertainty. The aim is to provoke a thoughtful approach to hydrological modelling and the interaction of modelling and field work. Some recommendations are made for future modelling practice. © 1997 John Wiley & Sons, Ltd.     

Lumped parameter sensitivity analysis of a distributed hydrological model within tropical and temperate catchments

Parameter sensitivity of the Distributed Hydrology‐Soil‐Vegetation Model (DHSVM) was studied in two contrasting environments: (1) Pang Khum Experimental Watershed (PKEW) in tropical northern Thailand; and (2) Cedar River basin (CRB) in Washington State of the temperate US Pacific Northwest. The analysis shows that for both basins, the most sensitive soil parameters were porosity, lateral saturated hydraulic conductivity, and the exponential decrease rate of lateral saturated hydraulic conductivity with soil depth. The most sensitive vegetation parameters were leaf area index, vegetation height, vapour pressure deficit, minimum stomatal resistance (for both grassland and forest scenarios), hemisphere fractional coverage, overstory fractional coverage, and trunk space (for the forest scenario only). Parameter sensitivity was basin‐specific, with the humid, temperate CRB being more influenced by vegetation parameters, while tropical PKEW was more influenced by soil properties. Increases and decreases in parameter values resulted in opposite and unequal changes in bias and root mean square error (RMSE), indicating the non‐linearity of physical process represented in the hydrological model. Copyright © 2011 John Wiley & Sons, Ltd.     

Observational and predictive uncertainties for multiple variables in a spatially distributed hydrological model

In this study, uncertainty in model input data (precipitation) and parameters is propagated through a physically based, spatially distributed hydrological model based on the MIKE SHE code. Precipitation uncertainty is accounted for using an ensemble of daily rainfall fields that incorporate four different sources of uncertainty, whereas parameter uncertainty is considered using Latin hypercube sampling. Model predictive uncertainty is assessed for multiple simulated hydrological variables (discharge, groundwater head, evapotranspiration, and soil moisture). Utilizing an extensive set of observational data, effective observational uncertainties for each hydrological variable are assessed. Considering not only model predictive uncertainty but also effective observational uncertainty leads to a notable increase in the number of instances, for which model simulation and observations are in good agreement (e.g., 47% vs. 91% for discharge and 0% vs. 98% for soil moisture). Effective observational uncertainty is in several cases larger than model predictive uncertainty. We conclude that the use of precipitation uncertainty with a realistic spatio‐temporal correlation structure, analyses of multiple variables with different spatial support, and the consideration of observational uncertainty are crucial for adequately evaluating the performance of physically based, spatially distributed hydrological models.     

Temporal sampling strategies and uncertainty in calibrating a conceptual hydrological model for a small boreal catchment

How much data is needed for calibration of a hydrological catchment model? In this paper we address this question by evaluating the information contained in different subsets of discharge and groundwater time series for multi‐objective calibration of a conceptual hydrological model within the framework of an uncertainty analysis. The study site was a 5·6‐km² catchment within the Forsmark research site in central Sweden along the Baltic coast. Daily time series data were available for discharge and several groundwater wells within the catchment for a continuous 1065‐day period. The hydrological model was a site‐specific modification of the conceptual HBV model. The uncertainty analyses were based on a selective Monte Carlo procedure. Thirteen subsets of the complete time series data were investigated with the idea that these represent realistic intermittent sampling strategies. Data subsets included split‐samples and various combinations of weekly, monthly, and quarterly fixed interval subsets, as well as a 53‐day ‘informed observer’ subset that utilized once per month samples except during March and April—the months containing large and often dominant snow melt events—when sampling was once per week. Several of these subsets, including that of the informed observer, provided very similar constraints on model calibration and parameter identification as the full data record, in terms of credibility bands on simulated time series, posterior parameter distributions, and performance indices calculated to the full dataset. This result suggests that hydrological sampling designs can, at least in some cases, be optimized. Copyright © 2009 John Wiley & Sons, Ltd.     

Parameter identification and uncertainty analysis for simulating streamflow in a river basin of Eastern India

Uncertainty is inherent in modelling studies. However, the quantification of uncertainties associated with a model is a challenging task, and hence, such studies are somewhat limited. As distributed or semi‐distributed hydrological models are being increasingly used these days to simulate hydrological processes, it is vital that these models should be equipped with robust calibration and uncertainty analysis techniques. The goal of the present study was to calibrate and validate the Soil and Water Assessment Tool (SWAT) model for simulating streamflow in a river basin of Eastern India, and to evaluate the performance of salient optimization techniques in quantifying uncertainties. The SWAT model for the study basin was developed and calibrated using Parameter Solution (ParaSol), Sequential Uncertainty Fitting Algorithm (SUFI‐2) and Generalized Likelihood Uncertainty Estimation (GLUE) optimization techniques. The daily observed streamflow data from 1998 to 2003 were used for model calibration, and those for 2004–2005 were used for model validation. Modelling results indicated that all the three techniques invariably yield better results for the monthly time step than for the daily time step during both calibration and validation. The model performances for the daily streamflow simulation using ParaSol and SUFI‐2 during calibration are reasonably good with a Nash–Sutcliffe efficiency and mean absolute error (MAE) of 0.88 and 9.70 m³/s for ParaSol, and 0.86 and 10.07 m³/s for SUFI‐2, respectively. The simulation results of GLUE revealed that the model simulates daily streamflow during calibration with the highest accuracy in the case of GLUE (R² = 0.88, MAE = 9.56 m³/s and root mean square error = 19.70 m³/s). The results of uncertainty analyses by SUFI‐2 and GLUE were compared in terms of parameter uncertainty. It was found that SUFI‐2 is capable of estimating uncertainties in complex hydrological models like SWAT, but it warrants sound knowledge of the parameters and their effects on the model output. On the other hand, GLUE predicts more reliable uncertainty ranges (R‐factor = 0.52 for daily calibration and 0.48 for validation) compared to SUFI‐2 (R‐factor = 0.59 for daily calibration and 0.55 for validation), though it is computationally demanding. Although both SUFI‐2 and GLUE appear to be promising techniques for the uncertainty analysis of modelling results, more and more studies in this direction are required under varying agro‐climatic conditions for assessing their generic capability. Copyright © 2015 John Wiley & Sons, Ltd.     

Effect of rainfall uncertainty on the performance of physically based rainfall–runoff models

This paper analyses the effect of rain data uncertainty on the performance of two hydrological models with different spatial structures: a semidistributed and a fully distributed model. The study is performed on a small catchment of 19.6 km² located in the north‐west of Spain, where the arrival of low pressure fronts from the Atlantic Ocean causes highly variable rainfall events. The rainfall fields in this catchment during a series of storm events are estimated using rainfall point measurements. The uncertainty of the estimated fields is quantified using a conditional simulation technique. Discharge and rain data, including the uncertainty of the estimated rainfall fields, are then used to calibrate and validate both hydrological models following the generalized likelihood uncertainty estimation (GLUE) methodology. In the storm events analysed, the two models show similar performance. In all cases, results show that the calibrated distribution of the input parameters narrows when the rain uncertainty is included in the analysis. Otherwise, when rain uncertainty is not considered, the calibration of the input parameters must account for all uncertainty in the rainfall–runoff transformation process. Also, in both models, the uncertainty of the predicted discharges increase in similar magnitude when the uncertainty of rainfall input increase.     

Modelling the hydrologic effects of dynamic land‐use change using a distributed hydrologic model and a spatial land‐use allocation model

This study develops a novel approach for modelling and examining the impacts of time–space land‐use changes on hydrological components. The approach uses an empirical land‐use change allocation model (CLUE‐s) and a distributed hydrological model (DHSVM) to examine various land‐use change scenarios in the Wu‐Tu watershed in northern Taiwan. The study also uses a generalized likelihood uncertainty estimation approach to quantify the parameter uncertainty of the distributed hydrological model. The results indicate that various land‐use policies—such as no change, dynamic change and simultaneous change—have different levels of impact on simulating the spatial distributions of hydrological components in the watershed study. Peak flow rates under simultaneous and dynamic land‐use changes are 5·71% and 2·77%, respectively, greater than the rate under the no land‐use change scenario. Using dynamic land‐use changes to assess the effect of land‐use changes on hydrological components is more practical and feasible than using simultaneous land‐use change and no land‐use change scenarios. Furthermore, land‐use change is a spatial dynamic process that can lead to significant changes in the distributions of ground water and soil moisture. The spatial distributions of land‐use changes influence hydrological processes, such as the ground water level of whole areas, particularly in the downstream watershed. Copyright © 2010 John Wiley & Sons, Ltd.     

Leveraging ensemble meteorological forcing data to improve parameter estimation of hydrologic models

As continental to global scale high-resolution meteorological datasets continue to be developed, there are sufficient meteorological datasets available now for modellers to construct a historical forcing ensemble. The forcing ensemble can be a collection of multiple deterministic meteorological datasets or come from an ensemble meteorological dataset. In hydrological model calibration, the forcing ensemble can be used to represent forcing data uncertainty. This study examines the potential of using the forcing ensemble to identify more robust parameters through model calibration. Specifically, we compare an ensemble forcing-based calibration with two deterministic forcing-based calibrations and investigate their flow simulation and parameter estimation properties and the ability to resist poor-quality forcings. The comparison experiment is conducted with a six-parameter hydrological model for 30 synthetic studies and 20 real data studies to provide a better assessment of the average performance of the deterministic and ensemble forcing-based calibrations. Results show that the ensemble forcing-based calibration generates parameter estimates that are less biased and have higher frequency of covering the true parameter values than the deterministic forcing-based calibration does. Using a forcing ensemble in model calibration reduces the risk of inaccurate flow simulation caused by poor-quality meteorological inputs, and improves the reliability and overall simulation skill of ensemble simulation results. The poor-quality meteorological inputs can be effectively filtered out via our ensemble forcing-based calibration methodology and thus discarded in any post-calibration model applications. The proposed ensemble forcing-based calibration method can be considered as a more generalized framework to include parameter and forcing uncertainties in model calibration.     

Assessment of the SWMM model uncertainties within the generalized likelihood uncertainty estimation (GLUE) framework for a high‐resolution urban sewershed

This research incorporates the generalized likelihood uncertainty estimation (GLUE) methodology in a high‐resolution Environmental Protection Agency Storm Water Management Model (SWMM), which we developed for a highly urbanized sewershed in Syracuse, NY, to assess SWMM modelling uncertainties and estimate parameters. We addressed two issues that have long been suggested having a great impact on the GLUE uncertainty estimation: the observations used to construct the likelihood measure and the sampling approach to obtain the posterior samples of the input parameters and prediction bounds of the model output. First, on the basis of the Bayes' theorem, we compared the prediction bounds generated from the same Gaussian distribution likelihood measure conditioned on flow observations of varying magnitude. Second, we employed two sampling techniques, the sampling importance resampling (SIR) and the threshold sampling methods, to generate posterior parameter distributions and prediction bounds, based on which the sampling efficiency was compared. In addition, for a better understanding of the hydrological responses of different pervious land covers in urban areas, we developed new parameter sets in SWMM representing the hydrological properties of trees and lawns, which were estimated through the GLUE procedure. The results showed that SIR was a more effective alternative to the conventional threshold sampling method. The combined total flow and peak flow data were an efficient alternative to the intensive 5‐min flow data for reducing SWMM parameter and output uncertainties. Several runoff control parameters were found to have a great effect on peak flows, including the newly introduced parameters for trees. Copyright © 2013 John Wiley & Sons, Ltd.     

Use of multi‐platform,multi‐temporal remote‐sensing data for calibration of a distributed hydrological model: an application in the Arno basin,Italy

Images from satellite platforms are a valid aid in order to obtain distributed information about hydrological surface states and parameters needed in calibration and validation of the water balance and flood forecasting. Remotely sensed data are easily available on large areas and with a frequency compatible with land cover changes. In this paper, remotely sensed images from different types of sensor have been utilized as a support to the calibration of the distributed hydrological model MOBIDIC, currently used in the experimental system of flood forecasting of the Arno River Basin Authority. Six radar images from ERS‐2 synthetic aperture radar (SAR) sensors (three for summer 2002 and three for spring–summer 2003) have been utilized and a relationship between soil saturation indexes and backscatter coefficient from SAR images has been investigated. Analysis has been performed only on pixels with meagre or no vegetation cover, in order to legitimize the assumption that water content of the soil is the main variable that influences the backscatter coefficient. Such pixels have been obtained by considering vegetation indexes (NDVI) and land cover maps produced by optical sensors (Landsat‐ETM). In order to calibrate the soil moisture model based on information provided by SAR images, an optimization algorithm has been utilized to minimize the regression error between saturation indexes from model and SAR data and error between measured and modelled discharge flows. Utilizing this procedure, model parameters that rule soil moisture fluxes have been calibrated, obtaining not only a good match with remotely sensed data, but also an enhancement of model performance in flow prediction with respect to a previous calibration with river discharge data only. Copyright © 2006 John Wiley & Sons, Ltd.     

Evaluating the spatial distribution of water balance in a small watershed,Pennsylvania

A conceptual water‐balance model was modified from a point application to be distributed for evaluating the spatial distribution of watershed water balance based on daily precipitation, temperature and other hydrological parameters. The model was calibrated by comparing simulated daily variation in soil moisture with field observed data and results of another model that simulates the vertical soil moisture flow by numerically solving Richards' equation. The impacts of soil and land use on the hydrological components of the water balance, such as evapotranspiration, soil moisture deficit, runoff and subsurface drainage, were evaluated with the calibrated model in this study. Given the same meteorological conditions and land use, the soil moisture deficit, evapotranspiration and surface runoff increase, and subsurface drainage decreases, as the available water capacity of soil increases. Among various land uses, alfalfa produced high soil moisture deficit and evapotranspiration and lower surface runoff and subsurface drainage, whereas soybeans produced an opposite trend. The simulated distribution of various hydrological components shows the combined effect of soil and land use. Simulated hydrological components compare well with observed data. The study demonstrated that the distributed water balance approach is efficient and has advantages over the use of single average value of hydrological variables and the application at a single point in the traditional practice. Copyright © 2000 John Wiley & Sons, Ltd.     

Parameter and rating curve uncertainty propagation analysis of the SWAT model for two small Mediterranean catchments

Abstract

The SWAT model was tested to simulate the streamflow of two small Mediterranean catchments (the Vène and the Pallas) in southern France. Model calibration and prediction uncertainty were assessed simultaneously by using three different techniques (SUFI-2, GLUE and ParaSol). Initially, a sensitivity analysis was conducted using the LH-OAT method. Subsequent sensitive parameter calibration and SWAT prediction uncertainty were analysed by considering, firstly, deterministic discharge data (assuming no uncertainty in discharge data) and secondly, uncertainty in discharge data through the development of a methodology that accounts explicitly for error in the rating curve (the stage?discharge relationship). To efficiently compare the different uncertainty methods and the effect of the uncertainty of the rating curve on model prediction uncertainty, common criteria were set for the likelihood function, the threshold value and the number of simulations. The results show that model prediction uncertainty is not only case-study specific, but also depends on the selected uncertainty analysis technique. It was also found that the 95% model prediction uncertainty interval is wider and more successful at encompassing the observations when uncertainty in the discharge data is considered explicitly. The latter source of uncertainty adds additional uncertainty to the total model prediction uncertainty.

Editor D. Koutsoyiannis; Associate editor D. Gerten

Citation Sellami, H., La Jeunesse, I., Benabdallah, S., and Vanclooster, M., 2013. Parameter and rating curve uncertainty propagation analysis of the SWAT model for two small Mediterranean watersheds. Hydrological Sciences Journal, 58 (8), 1635?1657.     

Quantifying the impacts of climate change on water resources in northern Tuscany,Italy, using high‐resolution regional projections

This paper investigates the potential impacts of climate change on water resources in northern Tuscany, Italy. A continuous hydrological model for each of the seven river basins within the study area was calibrated using historical data. The models were then driven by downscaled and bias‐corrected climate projections of an ensemble of 13 regional climate models (RCMs), under two different scenarios of representative concentration pathway (RCP4.5 and RCP8.5). The impacts were examined at medium term (2031–2040) and long term (2051–2060) in comparison with a reference period (2003–2012); the changes in rainfall, streamflow, and groundwater recharge were investigated. A high degree of uncertainty characterized the results with a significant intermodel variability, the period being equal. For the sake of brevity, only the results for the Serchio River basin were presented in detail. According to the RCM ensemble mean and the RCP4.5, a moderate decrease in rainfall, with reference to 2003–2012, is expected at medium term (?0.6%) and long term (?2.8%). Due to the warming of the study area, the reduction in the streamflow volume is two times the precipitation decrease (?1.1% and ?6.8% at medium and long term, respectively). The groundwater recharge is mainly affected by the changes in climate with expected percolation volume variations of ?3.3% at 2031–2040 and ?8.1% at 2051–2060. The impacts on the Serchio River basin water resources are less significant under the RCP8.5 scenario. The presence of artificial structures, such as dam‐reservoir systems, can contribute to mitigate the effects of climate change on water resources through the implementation of appropriate regulation strategies.     

A two-stage sensitivity analysis for parameter identification and calibration of a physically-based distributed model in a river basin

Hydrological models demand large numbers of input parameters, which are to be optimally identified for better simulation of various hydrological processes. Identifying the most relevant parameters and their values using efficient sensitivity analysis methods helps to better understand model performance. In this study, the physically-based distributed model SHETRAN is used for hydrological simulation on the Netravathi River Basin in south India and the most important parameters are identified using the Morris screening method. Further, the influence of a particular model parameter on streamflow is quantified using local sensitivity analysis and optimal parameters are obtained for calibration of the SHETRAN model. The results demonstrate the capability of two-stage sensitivity analysis, combining qualitative and quantitative methods in the initial screening-out of insignificant model parameters, identifying parameter interactions and quantifying the contribution of each model parameter to the streamflow. The results of the sensitivity analysis simplified the calibration procedure of SHETRAN for the study area.     

Assessing the hydrological and geomorphic behaviour of a landscape evolution model within a limits-of-acceptability uncertainty analysis framework

Landscape evolution models (LEMs) have the capability to characterize key aspects of geomorphological and hydrological processes. However, their usefulness is hindered by model equifinality and paucity of available calibration data. Estimating uncertainty in the parameter space and resultant model predictions is rarely achieved as this is computationally intensive and the uncertainties inherent in the observed data are large. Therefore, a limits-of-acceptability (LoA) uncertainty analysis approach was adopted in this study to assess the value of uncertain hydrological and geomorphic data. These were used to constrain simulations of catchment responses and to explore the parameter uncertainty in model predictions. We applied this approach to the River Derwent and Cocker catchments in the UK using a LEM CAESAR-Lisflood. Results show that the model was generally able to produce behavioural simulations within the uncertainty limits of the streamflow. Reliability metrics ranged from 24.4% to 41.2% and captured the high-magnitude low-frequency sediment events. Since different sets of behavioural simulations were found across different parts of the catchment, evaluating LEM performance, in quantifying and assessing both at-a-point behaviour and spatial catchment response, remains a challenge. Our results show that evaluating LEMs within uncertainty analyses framework while taking into account the varying quality of different observations constrains behavioural simulations and parameter distributions and is a step towards a full-ensemble uncertainty evaluation of such models. We believe that this approach will have benefits for reflecting uncertainties in flooding events where channel morphological changes are occurring and various diverse (and yet often sparse) data have been collected over such events.     

Hydrological model sensitivity to parameter and radar rainfall estimation uncertainty

Radar estimates of rainfall are being increasingly applied to flood forecasting applications. Errors are inherent both in the process of estimating rainfall from radar and in the modelling of the rainfall–runoff transformation. The study aims at building a framework for the assessment of uncertainty that is consistent with the limitations of the model and data available and that allows a direct quantitative comparison between model predictions obtained by using radar and raingauge rainfall inputs. The study uses radar data from a mountainous region in northern Italy where complex topography amplifies radar errors due to radar beam occlusion and variability of precipitation with height. These errors, together with other error sources, are adjusted by applying a radar rainfall estimation algorithm. Radar rainfall estimates, adjusted and not, are used as an input to TOPMODEL for flood simulation over the Posina catchment (116 km²). Hydrological model parameter uncertainty is explicitly accounted for by use of the GLUE (Generalized Likelihood Uncertainty Estimation). Statistics are proposed to evaluate both the wideness of the uncertainty limits and the percentage of observations which fall within the uncertainty bounds. Results show the critical importance of proper adjustment of radar estimates and the use of radar estimates as close to ground as possible. Uncertainties affecting runoff predictions from adjusted radar data are close to those obtained by using a dense raingauge network, at least for the lowest radar observations available. Copyright © 2004 John Wiley & Sons, Ltd.     

Application of the patient rule induction method to detect hydrologic model behavioural parameters and quantify uncertainty

Finding an operational parameter vector is always challenging in the application of hydrologic models, with over‐parameterization and limited information from observations leading to uncertainty about the best parameter vectors. Thus, it is beneficial to find every possible behavioural parameter vector. This paper presents a new methodology, called the patient rule induction method for parameter estimation (PRIM‐PE), to define where the behavioural parameter vectors are located in the parameter space. The PRIM‐PE was used to discover all regions of the parameter space containing an acceptable model behaviour. This algorithm consists of an initial sampling procedure to generate a parameter sample that sufficiently represents the response surface with a uniform distribution within the “good‐enough” region (i.e., performance better than a predefined threshold) and a rule induction component (PRIM), which is then used to define regions in the parameter space in which the acceptable parameter vectors are located. To investigate its ability in different situations, the methodology is evaluated using four test problems. The PRIM‐PE sampling procedure was also compared against a Markov chain Monte Carlo sampler known as the differential evolution adaptive Metropolis (DREAM_ZS) algorithm. Finally, a spatially distributed hydrological model calibration problem with two settings (a three‐parameter calibration problem and a 23‐parameter calibration problem) was solved using the PRIM‐PE algorithm. The results show that the PRIM‐PE method captured the good‐enough region in the parameter space successfully using 8 and 107 boxes for the three‐parameter and 23‐parameter problems, respectively. This good‐enough region can be used in a global sensitivity analysis to provide a broad range of parameter vectors that produce acceptable model performance. Moreover, for a specific objective function and model structure, the size of the boxes can be used as a measure of equifinality.     

Uncertainties in DRAINMOD predictions of subsurface drain flow for an Indiana silt loam using the GLUE methodology

Good modelling practice requires the incorporation of uncertainty analysis into hydrologic/water quality models. The generalized likelihood uncertainty estimation procedure was used to evaluate the uncertainty in DRAINMOD predictions of daily, monthly, and yearly subsurface drain flow. A variance‐based sensitivity analysis technique, the extended Fourier amplitude sensitivity test, was used to identify the main sources of prediction uncertainty. The analysis was conducted for the experimental drainage field at the Southeast Purdue Agricultural Center in Indiana. Six years of data were used and the uncertainties in eight model parameters were considered to analyse how uncertainties in input parameters propagate to model outputs. The width of 90% confidence interval bands of drain flow ranged from 0 to 0·6 cm day^?1 for daily predictions, from 0 to 3·1 cm month^?1 for the monthly predictions, and from 7·6 to 12·4 cm year^?1 for yearly predictions. Annual drain flow predicted by DRAINMOD fell well within the 90% confidence bounds. Model results were most sensitive to the vertical saturated hydraulic conductivity of the restrictive layer and the lateral hydraulic conductivity of the deepest soil layer, followed by the lateral hydraulic conductivity of the top soil layer and surface micro‐storage. Parameter interactions also contributed to the prediction uncertainty. Copyright © 2006 John Wiley & Sons, Ltd.     

The effect of forcing and landscape distribution on performance and consistency of model structures

It is often challenging to determine the appropriate level of spatial model forcing and model distribution in conceptual rainfall‐runoff modelling. This paper compares the value of incorporating both spatially distributed forcing data and spatially distributed model conceptualisations based on landscape heterogeneity, applied to the Ourthe catchment in Belgium. Distributed forcing data were used to create a spatial distribution of model states. Eight different configurations were tested: a lumped and distributed model structure, each with four levels of model state distribution. The results show that in the study catchment the distributed model structure can in general better reproduce the dynamics of the hydrograph, and furthermore, that the differences in performance and consistency between calibration and validation are smallest for the distributed model structure with distributed model states. For the Ourthe catchment, it can be concluded that the positive effect of incorporating a distributed model structure is larger than that of incorporating distributed model states. Distribution of model structure increases both model performance and consistency. Copyright © 2015 John Wiley & Sons, Ltd.     

Development of distributed time-variant gain model for nonlinear hydrological systems

Hydrological science is a branch of the earth sci-ences.To study the complexities of hydrological pro-cesses and the associated environmental problems,a systematic approach is desired.For instance,Dooge published Linear Theory of Hydrological System[1]in1973.Singh(1988)published Hydrological Systems[2],with its Chinese version[3]being translated by the Yel-low River Conservancy Commission in2000.Ge(1999)carried out systematic studies on the hydro-logical linear system theory,and produced …