Let $f:D \to \mathbb{R}$ be a real function with $U \subset D$ an open interval. Suppose that $f$ is $k$ times differentiable at $a \in U$. Then
$$R_k(x) \in o(|x-a|^k) \ \text{as} \ x \to a$$
where $R_k(x)=f(x)-P_k(x)$ and $P_k$ is the $k$th order Taylor polynomial of $f$ evaluated at $a$.
Like many, I am somewhat averse to the usage of L'Hospital's rule. Is there a proof of the above without it? Note the minimal conditions on $f$.