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Pesin sets are measurable sets along which the behavior of a matrix cocycle above a measure-preserving dynamical system is explicitly controlled. In uniformly hyperbolic dynamics, we study how often points return to Pesin sets under suitable conditions on the cocycle: if it is locally constant, or if it admits invariant holonomies and is pinching and twisting, we show that the measure of points that do not return a linear number of times to Pesin sets is exponentially small. We discuss applications to the exponential mixing of contact Anosov flows and consider counterexamples illustrating the necessity of suitable conditions on the cocycle.

Quantitative Pesin theory for Anosov diffeomorphisms and flows