Skokos, C. Max Planck Institute for the Physics of Complex Systems, Max Planck Society;
http://www.springer.com/astronomy/astrophysics+and+astroparticles/book/978-3-642-04457-1 (Any fulltext)
Skokos, C. (2010). The Lyapunov characteristic exponents and their computation. In J. Souchay, & R. Dvorak (Eds.), Dynamics of Small Solar System Bodies and Exoplanets (pp. 63-135). Berlin: Springer.