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Permanent magnet insertion devices (IDs), which are the main radiation generating devices in synchrotron light sources and free-electron lasers, use a time-invariant but space-periodic magnetic field to wiggle relativistic electrons for short-wavelength radiation generation. Recently, a high power microwave based undulator has also been successfully demonstrated at SLAC which promises the advantage of dynamic tunability of radiation spectrum and polarization. Such IDs employ transverse elecromagnetic fields which are periodic in both space and time to undulate the electrons. In this paper we develop a detailed theory of the principle of electromagnetic IDs from first principles for both linear and circular polarization modes. The electromagnetic equivalent definitions of undulator period (λ_{u}) and undulator deflection parameter (K) are derived. In the inertial frame where the average momentum of the electron is zero, we obtain the figure-8-like trajectory for the linear polarization mode and the circular trajectory for the circular polarization mode. The corresponding radiation spectra and the intensity of harmonics is also calculated

Theory of electromagnetic insertion devices and the corresponding synchrotron radiation