This book systematically introduces plasma physics that will enable nuclear fusion for continous energy production. Especially emphasized is the nonaxissymmetric toroidal field, invented and developed at Kyoto University. All aspects required for the magnetic confinement, formation of magnetic surface, magnetohydrodynamic equilibrium and stability, single charged particle confinement, neoclassical transport and plasma heating are covered. Wakatani also includes experiments and considers the prospects for next generation devices.