Asymptotic error for the Milstein scheme for SDEs driven by continuous   semimartingales
  A Milstein-type scheme was proposed to improve the rate of convergence of its approximation of the solution to a stochastic differential equation driven by a vector of continuous semimartingales. A necessary and sufficient condition was provided for this rate to be $1/n$ when the SDE is driven by a vector of continuous local martingales, or continuous semimartingales under an additional assumption on their finite variation part. The asymptotic behavior (weak convergence) of the normalized error processes was also studied. 
Liqing Yan