Sympletic tracking methods for insertion devices: a Robinson wiggler example

Modern synchrotron light sources are often characterized with high-brightness synchrotron radiation from insertion devices. Inevitably, insertion devices introduce nonlinear distortion to the beam motion. Symplectic tracking is crucial to study the impact, especially for the low- and medium-energy storage rings. This paper uses a Robinson wiggler as an example to illustrate an universally applicable analytical representation of the magnetic field and to summarizes four different symplectic tracking methods.