| Summary: | The Primal-dual (PD) algorithm is widely used in convex optimization to determine saddle points. While the stability of the PD algorithm can be easily guaranteed, strict contraction is nontrivial to establish in most cases. This letter focuses on continuous, possibly non-autonomous PD dynamics arising in a network context, in distributed optimization, or in systems with multiple time-scales. We show that the PD algorithm is indeed strictly contracting in specific metrics and analyze its robustness establishing stability and performance guarantees for different approximate PD systems. We derive estimates for the performance of multiple time-scale multi-layer optimization systems, and illustrate our results on a PD representation of the Automatic Generation Control of power systems.
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