diff --git a/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_caches.jl b/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_caches.jl
index 4349415e2c..df02b82e5c 100644
--- a/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_caches.jl
+++ b/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_caches.jl
@@ -300,6 +300,7 @@ jac_cache(c::Rosenbrock4Cache) = (c.J, c.W)
 tabtype(::Rodas23W) = Rodas23WTableau
 tabtype(::ROS3P) = ROS3PTableau
 tabtype(::Rodas3) = Rodas3Tableau
+tabtype(::Rodas3P) = Rodas3PTableau
 tabtype(::Rodas4) = Rodas4Tableau
 tabtype(::Rodas42) = Rodas42Tableau
 tabtype(::Rodas4P) = Rodas4PTableau
@@ -310,7 +311,7 @@ tabtype(::Rodas5Pr) = Rodas5PTableau
 tabtype(::Rodas5Pe) = Rodas5PTableau
 
 function alg_cache(
-        alg::Union{ROS3P, Rodas3, Rodas23W, Rodas4, Rodas42, Rodas4P, Rodas4P2, Rodas5, Rodas5P, Rodas5Pe, Rodas5Pr},
+        alg::Union{ROS3P, Rodas3, Rodas3P, Rodas23W, Rodas4, Rodas42, Rodas4P, Rodas4P2, Rodas5, Rodas5P, Rodas5Pe, Rodas5Pr},
         u, rate_prototype, ::Type{uEltypeNoUnits},
         ::Type{uBottomEltypeNoUnits}, ::Type{tTypeNoUnits}, uprev, uprev2, f, t,
         dt, reltol, p, calck,
@@ -353,7 +354,7 @@ function alg_cache(
 end
 
 function alg_cache(
-        alg::Union{ROS3P, Rodas3, Rodas23W, Rodas4, Rodas42, Rodas4P, Rodas4P2, Rodas5, Rodas5P, Rodas5Pe, Rodas5Pr},
+        alg::Union{ROS3P, Rodas3, Rodas3P, Rodas23W, Rodas4, Rodas42, Rodas4P, Rodas4P2, Rodas5, Rodas5P, Rodas5Pe, Rodas5Pr},
         u, rate_prototype, ::Type{uEltypeNoUnits},
         ::Type{uBottomEltypeNoUnits}, ::Type{tTypeNoUnits}, uprev, uprev2, f, t,
         dt, reltol, p, calck,
diff --git a/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_perform_step.jl b/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_perform_step.jl
index 9b2d292e10..b9cf1df1db 100644
--- a/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_perform_step.jl
+++ b/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_perform_step.jl
@@ -495,7 +495,7 @@ end
     end
 
     if integrator.opts.adaptive
-        utilde = uprev
+        utilde = zero(u)
         for i in 1:num_stages
             utilde = @.. utilde + btilde[i] * ks[i]
         end
@@ -592,14 +592,10 @@ end
         OrdinaryDiffEqCore.increment_nf!(integrator.stats, 1)
 
         du1 .= 0
-        if mass_matrix === I
-            for i in 1:(stage - 1)
-                @.. du1 += dtC[stage, i] * ks[i]
-            end
-        else
-            for i in 1:(stage - 1)
-                @.. du1 += dtC[stage, i] * ks[i]
-            end
+        for i in 1:(stage - 1)
+            @.. du1 += dtC[stage, i] * ks[i]
+        end
+        if mass_matrix !== I
             mul!(_vec(du2), mass_matrix, _vec(du1))
             du1 .= du2
         end
@@ -617,7 +613,7 @@ end
     step_limiter!(u, integrator, p, t + dt)
 
     if integrator.opts.adaptive
-        utilde .= 0
+        @.. utilde = 0 * u
         for i in 1:num_stages
             @.. utilde += btilde[i] * ks[i]
         end
diff --git a/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_tableaus.jl b/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_tableaus.jl
index 08710eaed1..fa20a973c7 100644
--- a/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_tableaus.jl
+++ b/lib/OrdinaryDiffEqRosenbrock/src/rosenbrock_tableaus.jl
@@ -51,17 +51,17 @@ function ROS3PTableau(T, T2)
     btilde = T[2.113248654051871, 1, 0.4226497308103742]
     c = T2[0, 1, 1]
     d = T[0.7886751345948129, -0.2113248654051871, -1.077350269189626]
-    H = zeros(T, 3, 3)
+    H = zeros(T, 2, 3)
     RodasTableau(A, C, b, btilde, gamma, c, d, H)
 end
 
 function Rodas3Tableau(T, T2)
     gamma = convert(T, 1 // 2)
     A = T[
-        0  0  0
-        0  0  0
-        2  0  0
-        2  0  1
+        0  0  0  0
+        0  0  0  0
+        2  0  0  0
+        2  0  1  0
     ]
     C = T[
         0  0  0
@@ -71,31 +71,32 @@ function Rodas3Tableau(T, T2)
     ]
     b = T[2, 0, 1, 1]
     btilde = T[0, 0, 0, 1]
-    c = T[0, 1, 1]
+    c = T[0, 0, 1, 1]
     d = T[1 // 2, 3 // 2, 0, 0]
-    H = zeros(T, 3, 3)
+    H = zeros(T, 2, 4)
     RodasTableau(A, C, b, btilde, gamma, c, d, H)
 end
 
 function Rodas3PTableau(T, T2)
     gamma = convert(T, 1 // 3)
     A = T[
-        0        0      0        0
-        4 // 3   0      0        0
-        4 // 3   0      0        0
-        2.90625  3.375  0.40625  0
+        0        0      0        0 0
+        4 // 3   0      0        0 0
+        4 // 3   0      0        0 0
+        2.90625  3.375  0.40625  0 0
+        2.90625  3.375  0.40625  0 0
     ]
     C = T[
         0        0        0        0
-        4.0      0        0        0
+       -4.0      0        0        0
         8.25     6.75     0        0
-        1.21875  5.0625   1.96875  0
-        4.03125  15.1875  4.03125  6.0
+        1.21875 -5.0625  -1.96875  0
+        4.03125 -15.1875 -4.03125  6.0
     ]
-    b = A[end, :]
-    btilde = T[0, 0, 0, 1]
-    c = T2[0, 4 // 9, 1]
-    d =  T[1 // 3, 1 // 9, 1]
+    b = T[2.90625,  3.375,  0.40625, 1, 0]
+    btilde = T[0, 0, 0, 1, -1]
+    c = T2[0, 4 // 9, 4 // 9, 1, 1]
+    d =  T[1 // 3, -1 // 9, 1, 0, 0]
     H = T[
         1.78125  6.75     0.15625  6  1
         4.21875  15.1875  3.09375  9  0
@@ -104,6 +105,10 @@ function Rodas3PTableau(T, T2)
     RodasTableau(A, C, b, btilde, gamma, c, d, H)#, h2_2)
 end
 
+function Rodas23WTableau(T, T2)
+    tab = Rodas3PTableau(T, T2)
+    RodasTableau(tab.A, tab.C, tab.btilde, tab.b, tab.gamma, tab.c, tab.d, tab.H)#, h2_2)
+end
 @ROS2(:tableau)
 
 @ROS23(:tableau)