Osedelec Theorem

For an $n$-D Map, the Lyapunov Characteristic Exponents are given by

$$\sigma_i = \lim_{N\to\infty} \ln\vert\lambda_i(N)\vert$$

for $i = 1$, ..., $n$, where $\lambda_i$ is the Lyapunov Characteristic Number.

See also Lyapunov Characteristic Exponent, Lyapunov Characteristic Number