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MR1462278 (99h:65238a) 65Y20 (15A42 34D08 68Q25)
Tsitsiklis, John N.; Blondel, Vincent D. The Lyapunov exponent and joint spectral radius of pairs of matrices are hard—when not impossible—to compute and to approximate. Math. Control Signals Systems 10 (1997), no. 1, 31–40.
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