Numerical Stability

This issue came up at work today, I thought ya /prog/ peeps might have some info.

So what do ya'll know about the numerical stability of rotations with, matrices, euler angles, and quaterions.

Also what do you know about the methods for interpolating rotations, and which method maintains numerical stability across the interpolation operation.

>>8 a lot of algorithms exhibit numerical instability in computers, some more than others, its a problem that is often overlooked by programmers to their detriment, but numerical instability is a question of degree, some algorithms are much more unstable than others.