I have the exact error on my Jenkins 2.7.4 server connecting to Windows 
Server 2012 R2 with OpenSSH-Win64 with public key only authentication.
I have successfully tested connection to other Windows machines with the 
exact version of OpenSSH-Win64 with public key only authentication, which 
gave me a CMD prompt.

Settings changed in sshd_config are:
PubkeyAuthentication yes
PasswordAuthentication no

I installed openssh via:
choco install win32-openssh -y

Then i tried the x86 version of the same OpenSSH, and yet the error was the 
same.

According to this 
post: https://wiki.jenkins-ci.org/display/JENKINS/SSH+slaves+and+Cygwin

> Cygwin comes with OpenSSH server, which works well with SSH Slaves plugin 
> <https://wiki.jenkins-ci.org/display/JENKINS/SSH+Slaves+plugin>. This is 
> one of the recommended way of controlling Windows slaves from Jenkins, if 
> you don't mind the added effort of installing Cygwin and sshd 
> <http://www.noah.org/ssh/cygwin-sshd.html>.
>

I have yet to succeed, but i will post back soon.

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