We consider dynamical decoupling schemes in which the qubit is continuously manipulated by a control field at all times. Building on the theory of the Uhrig dynamical decoupling (UDD) sequence and its connections to Chebyshev polynomials, we derive a method of always-on control by expressing the UDD control field as a Fourier series. We then truncate this series and numerically optimize the series coefficients for decoupling, constructing the Chebyshev and Fourier expansion sequence. This approach generates a bounded, continuous control field. We simulate the decoupling effectiveness of our sequence versus a continuous version of UDD for a qubit coupled to fullyquantum and semi-classical dephasing baths and find comparable performance. We derive filter functions for continuous-control decoupling sequences, and we assess how robust such sequences are to noise on control fields. The methods we employ provide a variety of tools to analyze continuous-control dynamical decoupling sequences. 4. Decoupling a qubit from a quantum bath 13 5. Filter function analysis 16 6. Decoupling a qubit from Born-Markov classical baths 18 7. Conclusion 20 Acknowledgments 20 Appendix A. Proof that Fourier series components do not affect 'sine'-like DD constraints 20 Appendix B. Derivation of filter function for continuous sequences 22 References 23simple solution to this problem: by applying a determined sequence of control pulses, one can significantly enhance the lifetime of a qubit. Early work in DD sought to suppress decoherence by applying a periodic sequence of instantaneous 'bang-bang' pulses, which periodically flip the state of a qubit and undo the coupling to the bath [12][13][14][15]. This work was extended to Hamiltonian engineering by using decoupling sequences to selectively enable coupling Hamiltonians [16,17]. Subsequently, attention turned to using Eulerian graphs to design sequences using bounded control operations that were robust to many types of systematic control errors [18]. This led to the notion of dynamically-corrected gates [19], which combine techniques from DD and composite pulse sequences from NMR to produce error-suppressing quantum gates.The idealized 'bang-bang' control pulse is instantaneous, like the Dirac delta function. However, real physical pulses can only approximate 'bang-bang' control, because such idealized control would require infinite power. The implications of a real, continuous-time function can be significant. Most DD sequences are designed to correct noise errors between pulses, but offer no intrinsic protection to errors during pulses. Early studies of always-on DD arose in the problem of dipolar decoupling in solid-state NMR [20], culminating from substantial work in extending pulsed decoupling techniques to 'soft', or low-power, pulses. A modern consideration of this problem in the quantum information context is found in [21]. More recently, optimal control approaches to customizing continuous, bounded controls to decouple a specific but arbitrary noise bath were considered in [22][2...