Nested Uhrig dynamical decoupling (NUDD) is a highly efficient quantum error suppression scheme that builds on optimized single axis UDD sequences. We prove the universality of NUDD and analyze its suppression of different error types in the setting of generalized control pulses. We present an explicit lower bound for the decoupling order of each error type, which we relate to the sequence orders of the nested UDD layers. We find that the error suppression capabilities of NUDD are strongly dependent on the parities and relative magnitudes of all nested UDD sequence orders. This allows us to predict the optimal arrangement of sequence orders. We test and confirm our analysis using numerical simulations.

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