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We are concerned with efficient numerical methods for stochastic continuous-time algebraic Riccati equations (SCARE). Such equations frequently arise from the state-dependent Riccati equation approach which is perhaps the only systematic way today to study nonlinear control problems. Often involved Riccati-type equations are of small scale, but have to be solved repeatedly in real time. Important applications include the 3D missile/target engagement, the F16 aircraft flight control, and the quadrotor optimal control, to name a few. A new inner-outer iterative method that combines the fixed-point strategy and the structure-preserving doubling algorithm (SDA) is proposed. It is proved that the method is monotonically convergent, and in particular, taking the zero matrix as initial, the method converges to the desired stabilizing solution. Previously, Newton's method has been called to solve SCARE, but it was mostly investigated from its theoretic aspect than numerical aspect in terms of robust and efficient numerical implementation. For that reason, we revisit Newton's method for SCARE, focusing on how to calculate each Newton iterative step efficiently so that Newton's method for SCARE can become practical. It is proposed to use our new inner-outer iterative method, which is provably convergent, to provide critical initial starting points for Newton's method to ensure its convergence. Finally several numerical experiments are conducted to validate the new method and robust implementation of Newton's method.