Progress in compensating pulse sequences for quantum computation
  The control of qubit states is often impeded by systematic control errors. Compensating pulse sequences have emerged as a resource efficient method for quantum error reduction. In this review, we discuss compensating composite pulse methods, and introduce a unifying control-theoretic framework using a dynamic interaction picture. This admits a novel geometric picture where sequences are interpreted as vector paths on the dynamical Lie algebra. Sequences for single-qubit and multi-qubit operations are described with this method. 
J. True Merrill, Kenneth R. Brown
quant-ph