  On a time scale of years to decades, gravitational wave (GW) astronomy will
become a reality. Low frequency (nanoHz) GWs are detectable through long-term
timing observations of the most stable pulsars. Radio observatories worldwide
are currently carrying out observing programmes to detect GWs, with data sets
being shared through the International Pulsar Timing Array project. One of the
most likely sources of low frequency GWs are supermassive black hole binaries
(SMBHBs), detectable as a background due to a large number of binaries, or as
continuous or burst emission from individual sources. No GW signal has yet been
detected, but stringent constraints are already being placed on galaxy
evolution models. The SKA will bring this research to fruition.
  In this chapter, we describe how timing observations using SKA1 will
contribute to detecting GWs, or can confirm a detection if a first signal
already has been identified when SKA1 commences observations. We describe how
SKA observations will identify the source(s) of a GW signal, search for
anisotropies in the background, improve models of galaxy evolution, test
theories of gravity, and characterise the early inspiral phase of a SMBHB
system.
  We describe the impact of the large number of millisecond pulsars to be
discovered by the SKA; and the observing cadence, observation durations, and
instrumentation required to reach the necessary sensitivity. We describe the
noise processes that will influence the achievable precision with the SKA. We
assume a long-term timing programme using the SKA1-MID array and consider the
implications of modifications to the current design. We describe the possible
benefits from observations using SKA1-LOW. Finally, we describe GW detection
prospects with SKA1 and SKA2, and end with a description of the expectations of
GW astronomy.
