Lyndon word factorization

Pyth, 17 16 bytes

^{-1 byte thanks to isaacg!}

hf!ff>Y>YZUYT+./

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Explanation

hf!ff>Y>YZUYT+./
              ./    Take all possible disjoint substring sets of [the input]
             +      plus [the input] itself (for the null string case).
 f                  Filter for only those sets which
  !f        T       for none of the substrings
    f  >YZUY        is there a suffix of the substring
     >Y             lexographically smaller than the substring itself.
h                   Return the first (i.e. the shortest) such set of substrings.