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The article is devoted to the developement of the method of expansion and mean-square approximation of iterated Ito stochastic integrals based on generalized multiple Fourier series converging in the sense of norm in the space $L_2([t, T]^k)$ ($k$ is the multiplicity of the iterated Ito stochastic integral). We obtain the exact and approximate expressions for the mean-square error of approximation of iterated Ito stochastic integrals of multiplicity $k$ ($k\in\mathbb{N}$) from the stochastic Taylor-Ito expansion in the framework of the mentioned method. As a result, we do not need to use redundant terms of expansions of iterated Ito stochastic integrals, that complicate the numerical methods for Ito stochastic differential equations. Moreover, we proved the convergence with propability 1 of the method of expansion of iterated Ito stochastic integrals based on generalized multiple Fourier series for the cases of multiple Fourier-Legendre series and multiple trigonometric Fourier series. Mean-square approximation of iterated Stratonovich stochastic integrals is also considered in the article. The results of the article can be applied to the high-order strong numerical methods for Ito stochastic differential equations as well as non-commutative semilinear stochastic partial differential equations with multiplicative trace class noise (in accordance with the mean-square criterion of convergence).
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