A formal series transformation to Birkhoff{\textendash}Gustavson normal form is obtained for toroidal magnetic field configurations in the neighborhood of a magnetic axis. Bishop{\textquoteright}s rotation minimizing coordinates are used to obtain a local orthogonal frame near the axis in which the metric is diagonal, even if the curvature has zeros. We treat the cases of vacuum and force-free (Beltrami) fields in a unified way, noting that the vector potential is essentially the Poincar{\'e}{\textendash}Liouville one-form of Hamiltonian dynamics, and the resulting magnetic field corresponds to the canonical two-form of a non-autonomous one-degree-of-freedom system. Canonical coordinates are obtained and Floquet theory is used to transform to a frame in which the lowest order Hamiltonian is autonomous. The resulting magnetic axis can be elliptic or hyperbolic, and resonant elliptic cases are treated. The resulting expansion for the field is shown to be well-defined to all orders, and is explicitly computed to degree four. An example is given for an axis with constant torsion near a 1:3 resonance.

}, year = {2021}, journal = {Physics of Plasmas}, volume = {28}, pages = {122501}, month = {12/2021}, url = {https://doi.org/10.1063/5.0066000}, doi = {10.1063/5.0066000}, language = {eng}, }