  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.
