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Burrage, K. and Burrage, P.M. (1998) General Order Conditions for Stochastic Runge-Kutta Methods for Both Commuting and Non-Commuting Stochastic Ordinary Equations. Applied Numerical Mathematics, 28, 161-177.
http://dx.doi.org/10.1016/S0168-9274(98)00042-7

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