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The use of Lyapunov exponents in the theory of dynamical systems or stochastic systems is often based on Oseledeč's Multiplicative Ergodic Theorem. For control systems this is not possible, because each (sufficiently rich) control system contains dynamics that are not Lyapunov regular. In this paper we present an approach to study the Lyapunov spectrum of a nonlinear control system via ergodic theory...
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