Robust dynamical decoupling with bounded controls
  We propose a general procedure for implementing dynamical decoupling without requiring arbitrarily strong, impulsive control actions. This is accomplished by designing continuous decoupling propagators according to Eulerian paths in the decoupling group for the system. Such Eulerian decoupling schemes offer two important advantages over their impulsive counterparts: they are able to enforce the same dynamical symmetrization but with more realistic control resources and, at the same time, they are intrinsically tolerant against a large class of systematic implementation errors. 
Lorenza Viola, Emanuel Knill