  Low-frequency time-dependent noise is one of the main obstacles on the road
towards a fully scalable quantum computer. The majority of solid-state qubit
platforms, from superconducting circuits to spins in semiconductors, are
greatly affected by $1/f$ noise. Among the different control techniques used to
counteract noise effects on the system, dynamical decoupling sequences are one
of the most effective. However, most dynamical decoupling sequences require
unbounded and instantaneous pulses, which are unphysical and can only implement
identity operations. Among methods that do restrict to bounded control fields,
there remains a need for protocols that implement arbitrary gates with
lab-ready control fields. In this work, we introduce a protocol to design
bounded and continuous control fields that implement arbitrary single-axis
rotations while shielding the system from low-frequency time-dependent noise
perpendicular to the control axis. We show the versatility of our method by
presenting a set of non-negative-only control pulses that are immediately
applicable to quantum systems with constrained control, such as singlet-triplet
spin qubits. Finally, we demonstrate the robustness of our control pulses
against classical $1/f$ noise and noise modeled with a random quantum bath,
showing that our pulses can even outperform ideal dynamical decoupling
sequences.
