Canonical RDEs and general semimartingales as rough paths

In the spirit of Marcus canonical stochastic differential equations, we study a similar notion of rough differential equations (RDEs), notably dropping the assumption of continuity prevalent in the rough path literature. A new metric is exhibited in which the solution map is a continuous function of the driving rough path and a so-called path function, which directly models the effect of the jump on the system. In a second part, we show that general multidimensional semimartingales admit canonically defined rough path lifts. An extension of Lépingle.s BDG inequality to this setting is given, and in turn leads to a number of novel limit theorems for semimartingale driven differential equations, both in law and in probability, conveniently phrased a uniformly-controlled-variations (UCV) condition (Kurtz.Protter, Jakubowski.Mémin.Pagès). A number of examples illustrate the scope of our results.