In this book the characteristics of synchrotron radiation, including insertion device radiation, are described and derived from first principles. The reader is first introduced to the subject in an intuitive way in order to gain familiarity with the underlying physical processes. A rigorous mathematical derivation of the theory follows. Since the characteristics of synchrotron radiation are intimately connected with the parameters of the electron beam and its accelerator, a basic introduction to electron beam dynamics and accelerator design is included. The book is aimed at graduate students and scientists working with synchrotron radiation.