L. Dieci and E.S. Van Vleck,

``Computation of a Few Lyapunov Exponents for Continuous and Discrete Dynamical Systems,''

(1995) Appld. Numer. Math. 17 pp. 275-291.

ABSTRACT

In this paper, we consider $QR$ based method for computing the first few
Lyapunov exponents of continuous and discrete dynamical systems.
Algorithmic developments are discussed. Implementation details, error
estimation and testing are also given.