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MR1486730 65Y20 (15A42 34D08 68Q25)
Tsitsiklis, John N.; Blondel, Vincent D. Lyapunov exponents of pairs of matrices. A correction: "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. 4, 381.
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