We present a new method for the computation of Lyapunov exponents utilizing representations of orthogonal matrices applied to decompositions of M or M ̃ \~M where M is the tangent map. This method uses a minimal set of variables, does not require renormalization or reorthogonalization, can be used to efficiently compute partial Lyapunov spectra, and does not break down when the Lyapunov spectrum is degenerate.
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Rangarajan et al. (1998) studied this question.
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