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For $b=A(y)+B(z)$, constant nonzero $f_0$, and zero basic velocity at $z=0$, thermal-wind balance givesWith full buoyancy represented by $f_0{\bar{\psi }}_z$, the constant-coefficient three-dimensional quasi-geostrophic potential vorticity is $\bar{q}=f_0+z{A}^{\prime \prime }/f_0+f_0{B}^{\prime }/N^2$. The reference-buoyancy convention in quasi-geostrophic potential vorticity changes only the uniform reference contribution.

The quasi-geostrophic approximation isolates slowly evolving, nearly balanced motions in a rotating, stably stratified fluid. Ocean eddies and mid-latitude atmospheric disturbances often have this character: a leading Coriolis force–pressure balance suppresses rapid horizontal acceleration, while hydrostatic balance suppresses rapid vertical acceleration. Small ageostrophic flow nevertheless supplies the vertical motion that changes the leading vorticity. The approximation filters fast inertia-gravity waves while retaining nonlinear transport, vertical shear and Rossby waves.

Use a reference density ${\rho }_0$ and remove the background hydrostatic pressure. Let $\pi =p^{\prime }/{\rho }_0$ and let the upward buoyancy perturbation be $b=-g{\rho }^{\prime }/{\rho }_0$. A vertically varying reference density stratification has $N^2(z)>0$. Under the Boussinesq approximation, the inviscid and adiabatic equations areHere $D/Dt={\partial }_t+{\mathbf{u}}_H\cdot {\nabla }_H+w{\partial }_z$. Density variations are small compared with ${\rho }_0$ but retained in the vertical buoyancy force. This is a useful local, incompressible description; a compressible atmosphere needs the corresponding weighted or pressure-coordinate version.

Let horizontal and vertical lengths be $L,H$, speed be $U$, and take the slow time $L/U$. Take $f_0>0$ for definiteness; use $|f_0|$ in the scale estimates in the opposite hemisphere. The principal small parameter is the Rossby number $\mathrm{Ro}=U/(f_{0}L)\ll 1$ at a latitude where $f_0\ne 0$. For the hydrostatic, strongly stratified regime, $H/L\ll 1$ and $f_0/N\ll 1$. Retaining both horizontal vorticity and vortex stretching gives the Burger numberThe geostrophic balance pressure scale is $f_{0}UL$ and the buoyancy perturbation scale is $B=f_{0}UL/H$. Hence $B/(N^{2}H)=\mathrm{Ro}/\mathrm{Bu}\ll 1$: buoyancy perturbations produce small displacements relative to the background stratification scale. The ageostrophic flow is $O(\mathrm{Ro}U)$ and incompressibility then gives $w=O(\mathrm{Ro}UH/L)$. Vertical acceleration is smaller than hydrostatic terms by order ${\mathrm{Ro}}^2(f_0/N{)}^2$ in this scaling. Weak forcing or diffusion can be added at the slow order, but neither is present here.

Define the quasi-geostrophic streamfunction by $\psi =\pi /f_0$. Leading geostrophic balance and hydrostatic balance implyDifferentiating horizontally and vertically gives the thermal-wind balanceThus vertical shear is determined by horizontal buoyancy gradients. The homogeneous Taylor–Proudman theorem is recovered only when those gradients vanish. Stable stratification allows sloping density surfaces and different geostrophic flow at different levels, without abandoning leading balance.

The Prandtl ratio of scales makes that modification quantitative. Horizontal and vertical terms in balanced potential-vorticity inversion have sizes $\psi /L^2$ and $(f_0^2/N^2)\psi /H^2$. Equality givesFor constant $N$, $Z=(N/|f_0|)z$ makes the inversion operator an ordinary three-dimensional Laplacian. Equivalently, an interior balanced disturbance of horizontal size $L$ naturally penetrates a depth of order $|f_0|L/N$. With $N\gg |f_0|$ this is a thin, vertically sheared structure, rather than the arbitrarily tall homogeneous columns suggested by strict Taylor–Proudman theorem behaviour. This is an aspect-ratio statement, not the diffusivity Prandtl number.

To allow a weak meridional variation of the Coriolis parameter, use the beta plane $f=f_0+\beta y$, with $\beta L/f_0=O(\mathrm{Ro})$, or equivalently $\beta L^2/U=O(1)$. The small correction to the leading balance is dynamically important on the slow time. Let $\xi ={\nabla }_H^2\psi$ be vertical relative vorticity and let $D_g={\partial }_t+{\mathbf{u}}_g\cdot {\nabla }_H$. At the first nontrivial order, the vertical vorticity equation and buoyancy equation reduce toRelative-vorticity stretching and tilting are higher order here; planetary-vorticity stretching $f_0{w}_z$ must remain. Eliminate $w$ to expose a materially conserved balanced scalar. Because ${\mathbf{u}}_{g,z}=(-b_y/f_0,b_x/f_0)$, the commutator term ${\mathbf{u}}_{g,z}\cdot {\nabla }_{H}b$ is exactly zero. For $N=N(z)$ this givesAdding the two equations proves the quasi-geostrophic potential-vorticity equationAn additive constant such as $f_0$ changes no dynamics. The horizontal streamfunction advection bracket can express this as $Q_t+{\psi }_x{Q}_y-{\psi }_y{Q}_x=0$. Although small departures from balance generated this evolution equation, the leading geostrophic flow itself advects $Q$ nonlinearly. The stretching term couples horizontal motion to vertical displacement of density surfaces.

This gives the practical advection-and-inversion description. Start with interior three-dimensional quasi-geostrophic potential vorticity, advect it with ${\mathbf{u}}_g$, and recover $\psi$ fromThe stratified quasi-geostrophic inversion is elliptic for positive $N^2$. It must be supplied with lateral and vertical boundary conditions and any circulation or mean-flow constraints; interior potential vorticity alone is not sufficient. At rigid horizontal lids, $w=0$ makes boundary buoyancy satisfy $D_{g}b=0$, and $b=f_0{\psi }_z$ supplies the vertical derivative data for inversion. Boundary buoyancy perturbations can therefore support flow even when the interior anomaly is zero. Once $\psi$ is found, its horizontal derivatives give velocity, its vertical derivative gives buoyancy, and the thermodynamic equation diagnoses $w$. This balanced evolution excludes the independent fast-wave initial data present in the full equations.

Finally, a gradient in $f$ supplies a restoring mechanism even in an otherwise uniform fluid. Linearizing about rest with constant $N$, the quasi-geostrophic potential-vorticity equation becomesSubstitution of $\psi \propto e^{i(kx+ly+mz-\omega t)}$ gives the Rossby wave dispersionFor $\beta >0$, its zonal phase speed is westward relative to a resting background. A meridionally displaced parcel retains potential vorticity, so it acquires a relative-vorticity anomaly that induces the velocity tending to return the disturbance. Background shear and stratification modify the full potential-vorticity gradient; they can alter propagation or permit instability. On a constant f-plane the planetary contribution vanishes, but gradients of relative vorticity, boundary buoyancy or topography can still support balanced wave motion. Close enough to the equator that $f_0$ vanishes, this mid-latitude quasi-geostrophic approximation and its scaling must be replaced.

Potential-vorticity inversion is the diagnostic recovery of the flow from its advected vortical scalar, using the balance relation and specified boundary conditions. Its usefulness is a separation of tasks: transport the scalar by the current velocity, invert to find the new velocity, and repeat. The inverse is spatially nonlocal even though the transport law is local. The four models differ chiefly in the operator being inverted and the information needed at boundaries.

In two-dimensional vortex dynamics, planar incompressibility permits $\mathbf{u}=(-{\psi }_y,{\psi }_x)$, and vertical vorticity is $\zeta ={\nabla }^2\psi$. The curl of inviscid momentum givesThere is no vortex stretching in strictly planar motion, so vorticity is materially conserved. The two-dimensional potential-vorticity inversion is the Poisson equation ${\nabla }^2\psi =\zeta$. On the plane, with suitable integrability and far-field behavior, its Green's function is $(2\pi {)}^{-1}\log |\mathbf{x}-{\mathbf{x}}^{\prime }|$, givingDifferentiation gives the planar Biot-Savart kernel. Here ${\psi }_h$ is a harmonic function fixed by boundary, circulation and far-field data. A rigid impermeable wall is a streamline, so $\psi$ is constant on it; constants or circulations around distinct holes require specification. The vorticity alone cannot distinguish two flows differing by a permitted harmonic contribution, such as a uniform current on an unbounded plane. A constant added to $\psi$ has no physical effect.

In nonrotating layerwise-two-dimensional vortex dynamics, strong stable density stratification constrains motion to almost horizontal layers. In the ideal independent-layer limit, vertical velocity vanishes at leading order, $(u,v)=(-{\psi }_y,{\psi }_x)$ andhold separately at each fixed $z$. Height is a parameter: the horizontal inverse Laplacian contains no vertical derivative. With background buoyancy $N^{2}z$, the leading Ertel potential vorticity is $Q=\mathbf{\omega }\cdot \nabla b\simeq N^2\zeta$, so the materially advected normalized scalar is $Q/N^2\simeq \zeta$. The same horizontal Poisson equation is inverted layer by layer, using each layer's boundary data. This is an asymptotic constrained model, not arbitrary three-dimensional Euler motion with vertical velocity set to zero: its validity requires small Froude number and controlled vertical scales. At finite buoyancy frequency, the weak vertical motion and tilted isopycnals restore coupling. The inversion may be independent by layer while the reconstructed fields vary with height. The horizontal Euler equations for an inviscid fluid determine the pressure gradient, while hydrostatic balance relates its vertical derivative to buoyancy.

In shallow-water quasi-geostrophic inversion, begin with the exact shallow-water potential vorticity $(f+\zeta )/h$. Linearizing its anomaly about depth $H$ gives, after multiplying by $H$, $\zeta -f_0\eta /H$. For small Rossby number, geostrophic balance gives $\psi =g\eta /f_0$, while $\zeta ={\nabla }_h^2\psi$. Keeping the beta plane background gradient givesThus $q-\beta y$ is inverted with the modified Helmholtz equation $({\nabla }_h^2-L_D^{-2})\psi =q-\beta y$, under the specified boundary and far-field conditions. The velocity follows from $\psi$ and surface elevation from $\eta =f_0\psi /g$. A horizontal Fourier mode of the anomaly satisfiesThe Rossby deformation radius therefore limits the reach of the balanced response. Layer stretching, represented by $-\psi /L_D^2$, is absent from ordinary planar vorticity inversion. Unlike the pure Poisson equation, the finite-deformation operator also responds to the constant part of $\psi$, which specifies mean elevation rather than an arbitrary streamfunction offset. Specified bottom topography adds a known source to $q$; it is subtracted along with the background before inversion.

In stratified quasi-geostrophic inversion, continuously varying vertical displacement replaces the shallow layer's single stretching term. For positive $N^2(z)$ and constant nonzero $f_0$, the three-dimensional quasi-geostrophic potential vorticity isGeostrophic balance and hydrostatic balance give velocity $(-{\psi }_y,{\psi }_x)$ and buoyancy perturbation $b=f_0{\psi }_z$. Invert the anisotropic elliptic boundary value problem using interior $q$, prescribed top and bottom buoyancy as Neumann boundary conditions, and the lateral, far-field and global-flow data. Boundary buoyancy evolves by its own material conservation when the boundary is impermeable. It cannot be discarded: the Eady edge wave in the preceding solution has zero interior potential vorticity anomaly but nonzero boundary buoyancy and a nonzero induced flow.

For constant $N,f_0$, the stretched coordinates for quasi-geostrophic inversion $Z=Nz/|f_0|$ turn the inversion operator into the three-dimensional Laplacian. Its infinite-space Green's function is $-1/(4\pi |\mathbf{X}-{\mathbf{X}}^{\prime }|)$ in $(x,y,Z)$ coordinates. Hence a horizontal disturbance of scale $L$ communicates vertically over scale $|f_0|L/N$, explicitly coupling layers. In a bounded domain with homogeneous difference data, multiplying the difference of two inversions by its streamfunction and applying integration by parts givesThis proves uniqueness up to a constant when the relevant boundary terms vanish; a mean or pressure reference fixes the remaining constant. Compatible boundary fluxes are needed for a purely Neumann boundary-value problem.

Across all four models, inversion provides the induced flow, while scalar transport supplies time evolution. The independent horizontal inverse in the first two models becomes a finite-deformation inverse in shallow water and a vertically coupled elliptic inverse in continuous stratification. The principle applies within the stated balance or constrained model. In the unrestricted Boussinesq equations or shallow water equations, gravity waves and divergent motion can share the same potential vorticity, so the vortical scalar alone does not reconstruct every possible flow.

Balanced variables and PV derivation. Write the disturbance reduced pressure as $p^{\prime }/{\rho }_0=f_0\psi$. Leading geostrophic balance gives $(u_g,v_g)=(-{\psi }_y,{\psi }_x)$, and leading hydrostatic balance gives buoyancy anomaly ${\sigma }^{\prime }=p_z^{\prime }/{\rho }_0=f_0{\psi }_z$. The geostrophic material derivative isIt includes horizontal advection, not an independent prognostic vertical velocity. The appropriate regime has small Rossby number, small stratified Froude number, thin aspect ratio and slow evolution; a common scaling has $[NH/(f_{0}L){]}^2$ of order one and $\beta L/|f_0|\ll 1$.

Only the vertical rotation component is retained in the traditional approximation. In the horizontal momentum balance, the horizontal part of the rotation vector multiplies the small vertical velocity; in vertical momentum, its contribution is small compared with leading hydrostatic pressure and buoyancy in the thin-layer scaling. Away from the equator these corrections are smaller by a factor of order $(H/L)\cot \lambda$. They need not be small in equatorial or strongly nonhydrostatic settings, so the approximation has a definite regime of validity.

Put $A(z)=f_0^2/N^2(z)$. Eliminating $w$ from buoyancy givesThe last step needs justification because $D_g$ and ${\partial }_z$ do not commute on arbitrary fields. Their extra terms here areSubstitution into the supplied vorticity equation givesSince $D_{g}f=\beta v_g=\beta {\psi }_x$,This is three-dimensional quasi-geostrophic potential vorticity conservation; the height-dependent coefficient is retained inside the derivative.

At a small steady lower elevation $b(x,y)$, impermeability gives $w=u_g{b}_x+v_g{b}_y=D_{g}b$, evaluated at $z=0$ to leading order. Substitution into buoyancy and division by $N^2$ gives the topographic buoyancy boundary condition for quasi-geostrophic flow,

Rossby waves at rest. For constant $N$ let $\alpha =f_0^2/N^2$ and $K^2=k^2+\alpha m^2$. Linearization about relative rest gives ${\partial }_t({\psi }_{xx}+\alpha {\psi }_{zz})+\beta {\psi }_x=0$. A Fourier wave givesFor $\beta >0$, the zonal phase speed $\omega /k=-\beta /K^2$ is westward. At fixed altitude the PV perturbation is $q^{\prime }=-K^2{\psi }^{\prime }$; its total field is the background $f_0+\beta y$ with sinusoidally displaced contours, as sketched below.

A northward parcel displacement has $q^{\prime }=-\beta {\xi }_y$: it retains the smaller background PV of its origin. The inverted geostrophic velocity associated with a positive PV crest is northward on its eastern flank and southward on its western flank. Advection of the background PV then decreases the anomaly on the eastern flank and increases it on the western flank, shifting the crest westward. This is a PV-restoring mechanism, not a westward mean current.

Differentiating the dispersion relation gives the group velocityFor nonzero $k,m$, the vertical phase speed is $\omega /m=-\beta k/[m(k^2+\alpha m^2)]$, soThus upward energy propagation accompanies downward vertical phase propagation, and conversely. For $m=0$ the vertical group speed is zero and a vertical phase speed is not defined.

Stationary topographic response. Assume $f_0\ne 0$, $\beta >0$ and nonzero corrugation wavenumber $k$. In a uniform current the laboratory dispersion is ${\omega }_{\mathrm{lab}}=Uk-\beta k/K^2$. For a stationary quasi-geostrophic mountain wave, $K^2=\beta /U$, givingFor $U\ne 0$, the linear lower-boundary condition becomes $U{\partial }_x[(f_0/N^2){\psi }_z^{\prime }+b]=0$. Its forced nonzero-$k$ component therefore hasIf $0<U<\beta /k^2$, the vertical wavenumber is real. Both signs would be bounded aloft, so boundedness alone is insufficient for uniqueness. Impose an upward radiation condition, excluding waves incident from infinity; equivalently switch on the terrain forcing causally with arbitrarily weak absorption aloft. Since $c_{gz}$ has the sign of $km$, chooseThe unique outgoing forced component is thenThe bottom derivative and $w^{\prime }(0)=U{b}_x$ verify the phase and amplitude. In this stationary pattern it is the intrinsic frequency ${\omega }_{\mathrm{int}}=-Uk$ that describes downward vertical phase propagation relative to the current; the laboratory frequency is zero.

If $U<0$ or $U>\beta /k^2$, defineExclude exponential growth at infinity. The unique decaying forced component isAt the excluded value $U=\beta /k^2$, a nonzero prescribed bottom derivative cannot be matched by a bounded constant/linear vertical solution; the steady idealization is singular. At $U=0$ the boundary is not crossed and there is no forced response in the linear nonzero-$k$ sector: ${\psi }^{\prime }=0$, rather than an expression obtained by dividing by $U$. Uniqueness throughout refers to the prescribed forced Fourier component, with the reference state fixed and no independently incident waves or added mean-state changes.

The propagation criterion explains why topographically forced planetary Rossby waves can carry energy into a moderately westerly stratosphere, while easterlies and sufficiently strong westerlies block their vertical propagation. Larger horizontal scales more readily meet the criterion. Real dissipation, height-dependent winds and critical levels modify the simple solution and allow wave–mean-flow interaction; the ideal constant-coefficient calculation establishes the propagation filter, not a complete theory of stratospheric evolution.

Define the quasi-geostrophic streamfunction by $p^{\prime }/{\rho }_0=f_0\psi$. Leading horizontal geostrophic balance, $f_0\hat{\mathbf{z}}\times {\mathbf{u}}_g=-{\nabla }_{H}P$, gives $(u_g,v_g)=(-{\psi }_y,{\psi }_x)$. The hydrostatic approximation gives $P_z=\sigma$, henceThus $D_g$ is the material derivative along the leading geostrophic flow, and the vertical derivative of pressure determines the buoyancy perturbation. This also gives thermal wind: $u_{gz}=-{\sigma }_y/f_0$ and $v_{gz}={\sigma }_x/f_0$.

The balanced regime is favored by small Rossby number, a shallow aspect ratio, and a Burger number $N^2{H}^2/(f_0^2{L}^2)$ of order one. Equivalently the stratified Froude number $U/(NH)=\mathrm{Ro}/\sqrt{\mathrm{Bu}}$ is small. On a beta plane, require $\beta L/|f_0|=O(\mathrm{Ro})$, and take slow, initially balanced motion away from the equator. Under the traditional approximation, the horizontal Coriolis force generated by vertical velocity is small because vertical velocity is small, while the vertical rotational force is small compared with the leading hydrostatic pressure and gravity terms. Strong stratification and small aspect ratio justify retaining only the vertical component of Earth's rotation in this regime; this argument is not uniform near the equator.

Put $A(z)=f_0^2/N^2(z)$. The buoyancy equation gives $w=-f_0{D}_g{\psi }_z/N^2$. Substitution into the vertical vorticity equation yieldsThere is an important commutator cancellation. With $J_{xy}(a,b)=a_x{b}_y-a_y{b}_x$,Also $D_{g}f=\beta {\psi }_x$ for $f=f_0+\beta y$. Adding terms therefore proves potential-vorticity conservation:This is the three-dimensional quasi-geostrophic potential vorticity.

At an impermeable stationary lower boundary $z=b(x,y)$, the kinematic condition is $w={\mathbf{u}}_H\cdot {\nabla }_{H}b=D_{g}b$. For small elevation and slope, evaluate this at the reference level $z=0$ to leading order. Combining it with the buoyancy equation gives the rigid-boundary buoyancy condition for quasi-geostrophic wavesThe quantity in parentheses is the boundary displacement plus its buoyancy-equivalent displacement.

Now take constant $N,f$ and the mean quasi-geostrophic streamfunction $\bar{\psi }=-(U_0+\Lambda z)y$. Its mean buoyancy perturbation is $-f\Lambda y$, consistent with thermal wind, and its interior potential vorticity is constant. In the boundary condition, the perturbation velocity $v^{\prime }={\psi }_x^{\prime }$ advects the mean boundary buoyancy gradient. Keeping this contribution givesIn particular the $-\Lambda {\psi }_x^{\prime }$ term must not be omitted.

The linear interior potential-vorticity equation is $({\partial }_t+U(z){\partial }_x)Q^{\prime }=0$. Starting with zero interior perturbation potential vorticity, and with forcing only through the boundary, it remains zero. For a steady solution this is also the regular zero-interior-PV choice, continued through any isolated zero of $U$. The inversion equation for a horizontal mode isThe printed convention $K>0$ takes $f>0$; for either hemisphere the decay rate is defined using $|f|$. Boundedness aloft selects the decaying mode. Writewith real part understood. The linear boundary condition becomesFor $K{U}_0+\Lambda \ne 0$, a steady quasi-geostrophic mountain wave is thereforeOn $y=0$, its real meridional velocity isFor the positive-parameter convention $k,ϵ,f,U_0>0$ and $K{U}_0+\Lambda >0$, the velocity minimum lies one quarter wavelength downstream of each topographic maximum; its maximum lies one quarter wavelength downstream of each topographic minimum. If the velocity prefactor changes sign, maxima and minima interchange. The condition $K{U}_0+\Lambda >0$ alone does not fix that prefactor if $U_0$ is allowed to be negative. The upper panel shows the positive-current convention.

At $K{U}_0+\Lambda =0$, the free boundary Eady edge wave has zero frequency in the ground frame. If $kϵU_0\ne 0$, a steady amplitude cannot satisfy the forced amplitude equation. With $A(0)=0$, integration givesConsequentlyThe symbol multiplying $i$ here is the horizontal wavenumber $k$, as in the PDF. Taking the real part and differentiating in $x$ givesFor $U_0=-\Lambda /K>0$, positive $ϵ,f$, and $t>0$, the meridional-velocity minima coincide with topographic maxima, and its maxima with topographic minima. This is the lower panel. The change from quadrature to opposition is the phase of a resonantly forced topographic edge wave.

The stationary relief continuously excites a boundary Rossby wave whose intrinsic propagation exactly cancels mean advection. The forcing therefore remains coherent with that wave; with no damping or radiation loss for this trapped mode, its linear amplitude grows secularly. This is a resonant topographic quasi-geostrophic wave. Unlimited growth is a conclusion of the linear idealization: eventually the small-disturbance approximation fails.

The assertion that resonance must be unsteady needs nonzero forcing. If $k=0$, then $b_x=0$ and the boundary current does not cross the relief; if $U_0=0$, the forcing also vanishes. In either case the zero disturbance is a steady solution even if $K{U}_0+\Lambda =0$. For example, choose $k=0$, $\ell \ne 0$, and $\Lambda =-K{U}_0$; this is a concrete exception to an unconditional resonance claim. When both horizontal wavenumbers vanish, $K=0$ and the stated decaying-wave ansatz itself does not apply.

Use $(\bar{u},\bar{v})=(-{\bar{\psi }}_y,{\bar{\psi }}_x)$ and the hydrostatic thermal-wind balance convention $\bar{b}=f_0{\bar{\psi }}_z$. Because the basic state is independent of $x$, $\bar{v}=0$. The thermal-wind relation isIntegration from the resting lower boundary givesA compatible quasi-geostrophic streamfunction iswhere $C$ is a spatial constant. Its horizontal Laplacian is $z{A}^{\prime \prime }(y)/f_0$ and its second vertical derivative is $B^{\prime }(z)/f_0$. Substituting into the given three-dimensional quasi-geostrophic potential vorticity yieldsIn particular, the horizontal-curvature term has a plus sign: $\bar{\zeta }=-{\bar{u}}_y=z{A}^{\prime \prime }/f_0$.

The reference-buoyancy convention in quasi-geostrophic potential vorticity should be stated. If $\bar{b}$ includes the full reference profile $N^{2}z$, the formula above includes its constant contribution $f_0$. If instead the quasi-geostrophic streamfunction represents pressure relative to that reference hydrostatic state, use $\bar{b}-N^{2}z=f_0{\bar{\psi }}_z$. Then the quoted $\bar{q}$ is reduced by the constant $f_0$. Both conventions give exactly the same velocity and potential-vorticity gradients, and therefore the same subsequent dynamics. The coefficient $N$ in the stated linear model is a prescribed reference buoyancy frequency; if it is also required to equal the full physical buoyancy frequency everywhere, then $B^{\prime }(z)=N^2$, rather than an arbitrary function. The formal expression above retains the requested arbitrary $B$ with the stated constant coefficient.

At leading order as $\mathrm{Ro}\to 0$, horizontal geostrophic balance and vertical hydrostatic balance giveThe temperature equation givesMeanwhile ${\zeta }^{\prime }=p_{xx}^{\prime }+p_{yy}^{\prime }$. The leading vertical-vorticity equation is $D{\zeta }^{\prime }=w_z^{\prime }$. Since derivatives in $z$ do not commute with $D$,The $p_{xz}^{\prime }$ terms therefore cancel, leaving the conserved three-dimensional quasi-geostrophic potential vorticityNo normal flow at $y=0,1$ means $v^{\prime }=p_x^{\prime }=0$. At $z=0,1$, $w^{\prime }=0$, so

The interior equation materially conserves three-dimensional quasi-geostrophic potential vorticity. At each rigid horizontal boundary, ${\psi }_z$ is proportional to the boundary buoyancy anomaly, so the other two equations express material conservation of that buoyancy.

A background streamfunction $\overline{\psi }=-\Lambda zy$ gives ${\overline{\mathbf{u}}}_g=(\Lambda z,0,0)$. Its interior PV is uniform. Writing $\psi =\overline{\psi }+{\psi }^{\prime }$ and retaining first-order terms givesin the interior. Since ${\overline{\psi }}_z=-\Lambda y$, perturbation advection of the boundary buoyancy givesat $z=0,H$. At the lower boundary this is replaced by

For a Fourier component $\hat{\psi }(z,t)e^{ikx}$ with zero interior PV,Solving this boundary-value problem in terms ofgiveswhere, with $\mu =NHk/f$,The boundary equations consequently reduce toFor $q_0,q_H\propto e^{-ikct}$, defineThe determinant gives the Damped Eady-wave dispersion relation

The quasi-geostrophic approximation requires small Rossby number, nearly horizontal geostrophic balance, hydrostatic vertical balance, small interface or density displacements, stable background stratification, and horizontal scales much larger than the vertical scale. The Boussinesq approximation and a beta plane are used, ageostrophic motion enters only at the order needed to evolve potential vorticity, and here the buoyancy frequency $N$ is constant. Under these assumptions the materially conserved three-dimensional quasi-geostrophic potential vorticity is

Linearizing conservation of three-dimensional quasi-geostrophic potential vorticity about rest givesFor $K^2=k^2+l^2$, the plane-wave ansatz yieldsThus the vertical structure equation isThe rigid-boundary eigenfunctions areSubstitution gives the Baroclinic Rossby wave dispersion relationsThe $n=0$ member is the Barotropic Rossby wave; $n\ge 1$ are baroclinic vertical modes.

The Prandtl ratio compares horizontal and vertical scales in rotating density stratification. In the three-dimensional quasi-geostrophic potential vorticity operator, horizontal curvature scales as $\psi /L^2$ and vertical stretching as $(f_0^2/N^2)\psi /H^2$. Comparable terms therefore require $H/L\sim |f_0|/N$. For constant $N$, the stretched coordinate $Z=(N/|f_0|)z$ makes the operator isotropic. This aspect ratio concerns rotational and stratification effects, not the viscous-to-thermal diffusivity Prandtl number.

The quasi-geostrophic potential-vorticity equation states that three-dimensional quasi-geostrophic potential vorticity is materially conserved in inviscid, adiabatic flow. On a beta plane with constant buoyancy frequency,

The three-dimensional quasi-geostrophic potential vorticity relation defines an anisotropic elliptic boundary value problem. Interior potential vorticity and boundary buoyancy perturbation $b=f_0{\psi }_z$, together with lateral and global conditions, determine the quasi-geostrophic streamfunction up to its allowed constant. If two solutions have the same data, their difference has zero elliptic source and homogeneous boundary data. Integration by parts gives zero integral of $|{\nabla }_h\psi {|}^2+(f_0^2/N^2)|{\psi }_z{|}^2$, proving uniqueness modulo a constant in a connected domain when the boundary terms vanish. Eady edge waves show that zero interior source alone is insufficient.