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MR946666 (90a:58088) 58F10 (34D05 34F05)
Millionshchikov, V. M. Formulas for the Lyapunov exponents of linear systems of differential equations. (Russian) Tbiliss. Gos. Univ. Inst. Prikl. Mat. Trudy 22 (1987), 150--179, 236.
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