The third edition of this successful textbook is fully updated and includes important recent developments in cosmology. It begins with an introduction to cosmology and general relativity, and goes on to cover the mathematical models of standard cosmology. The physical aspects of cosmology, including primordial nucleosynthesis, the astroparticle physics of inflation, and the current ideas on structure formation are discussed. Alternative models of cosmology are reviewed, including the model of Quasi-Steady State Cosmology, which has recently been proposed as an alternative to Big Bang Cosmology.