Periodically driven systems have emerged as a useful technique to engineer the properties of quantum systems, and are in the process of being developed into a standard toolbox for quantum simulation. An outstanding challenge that leaves this toolbox incomplete is the manipulation of the states dressed by strong periodic drives. The state-of-the-art in Floquet control is the adiabatic change of parameters. Yet, this requires long protocols conflicting with the limited coherence times in experiments. To achieve fast control of nonequilibrium quantum matter, we generalize the notion of variational counterdiabatic driving away from equilibrium focusing on Floquet systems. We derive a nonperturbative variational principle to find local approximations to the adiabatic gauge potential for the effective Floquet Hamiltonian. It enables transitionless driving of Floquet eigenstates far away from the adiabatic regime. We discuss applications to two-level, Floquet band, and interacting periodically driven models. The developed technique allows us to capture nonperturbative photon resonances and obtain high-fidelity protocols that respect experimental limitations like the locality of the accessible control terms.
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