  We present a new method for the computation of Lyapunov exponents utilizing
representations of orthogonal matrices applied to decompositions of M or
MM_trans where M is the tangent map. This method uses a minimal set of
variables, does not require renormalization or reorthogonalization, can be used
to efficiently compute partial Lyapunov spectra, and does not break down when
the Lyapunov spectrum is degenerate.
