A Does the Maximum Lyapunov exponent depend on the eigenvalues?

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Does the value of the Maximum Lyapunov exponent depend on the eigenvalues of the system?
I am currently reading this paper where on page 8, the authors say that:

Negative eigenvalues correspond to unstable systems.
This correlates with Figure 8 on page 12.

Does it mean that there is a real correlation between eigenvalues and Lyapunov exponents?
 
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