Computation of the Lyapunov spectrum for continuous-time dynamical systems and discrete maps

In this paper, we describe in detail a method of computing Lyapunov exponents for a continuous-time dynamical system and extend the method to discrete maps. Using this method, a partial Lyapunov spectrum can be computed using fewer equations as compared to the computation of the full spectrum, there is no difficulty in evaluating degenerate Lyapunov spectra, the equations are straightforward to generalize to higher dimensions, and the minimal set of dynamical variables is used. Explicit proofs and other details not given in previous work are included here.