Given a sequence $Y_1, Y_2, \dots$ of i.i.d. matrices in $GL_n(\mathbb R)$, there is a theorem of Furstenberg and Kesten which says that if $\mathbb E(\log||Y_1||)$ is finite, there exists a constant $\gamma$ (the Lyapunov exponent) such that $$\lim_{n\rightarrow\infty}\frac{1}{n}\log||Y_n\dots Y_1|| = \gamma$$ There are also versions of central limit theorems for this scenario. I'm pretty sure this is also known in a more general case (e.g. suppose we have a sequence of matrices $Y_i$ of order 2, and I don't want to consider sequences of length $n$ in which $\dots Y_i Y_i\dots$ appears). I am wondering if anyone knows a good reference for theorems regarding Lyapunov exponents and central theorems in this case.