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Lie-Trotter splitting commutator error

For bounded matrices,

e^{k B} e^{k C} = e^{k (B + C)} + \frac{k ^{2}}{2} (BC - CB) + O (k^{3}) .

Commutativity removes this splitting error, though first-order substeps such as backward Euler retain their own quadratic local errors.

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