In this paper we propose the asymptotic error distributions of the Euler scheme for a stochastic differential equation driven by Itô semimartingales. Jacod (2004) studied this problem for stochastic differential equations driven by pure jump Lévy processes and obtained quite sharp results. We extend his results to a more general pure jump Itô semimartingale.
"The Euler scheme for a stochastic differential equation driven by pure jump semimartingales." J. Appl. Probab. 52 (1) 149 - 166, March 2015. https://doi.org/10.1239/jap/1429282612