Page "Lyapunov exponent" Paragraph 44

Generally the calculation of Lyapunov exponents, as defined above, cannot be carried out analytically, and in most cases one must resort to numerical techniques.

An early example, which also constituted the first demonstration of the exponential divergence of chaotic trajectories, was carried out by R. H. Miller in 1964.

Currently, the most commonly used numerical procedure estimates the matrix based on averaging several finite time approximations of the limit defining.