Perturbations of Friedmann-Robertson-Walker cosmological models

Gauge-invariant perturbations of the standard FRW homogeneous isotropic space-time are developed analytically. The concept of space-time perturbation is introduced; the covariant decomposition of tensor fields is explained; and particular attention is given to perturbations of geometry, matter perturbations, and perturbations of Minkowski space-time. Explicit expressions for the curvature tensors in the preferred gauges are provided in an appendix.