Convergence of primal-dual hybrid gradient ($\tau \sigma \Vert D{\Vert }^2<1$)

For proper lower semicontinuous convex functions on finite-dimensional Hilbert spaces, a nonempty saddle point set, and constant positive steps satisfying the displayed inequality, the primal-dual hybrid gradient method with extrapolation parameter one converges to a saddle point. The strict condition controls the bilinear coupling by the operator norm. It does not remove the need for existence of a saddle point. The fixed-step theorem and assumptions are recalled in Malitsky and Pock, A first-order primal-dual algorithm with linesearch, Section 1.