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.

>>7
all algorithms involving either extremes of floating point would be numerically unstable then

it may be because one uses values which a binary floating point system can represent hence no round off errors, using numbers such as 0.5, 0.25... and their combinations