  High fidelity coherent control of quantum systems is critical to building
quantum devices and quantum computers. We provide a general optimal control
framework for designing control sequences that account for hardware control
distortions while maintaining robustness to environmental noise. We demonstrate
the utility of our algorithm by presenting examples of robust quantum gates
optimized in the presence of nonlinear distortions. We show that nonlinear
classical controllers do not necessarily incur additional computational cost to
pulse optimization, enabling more powerful quantum devices.
