Cosmology is the study of the universe, including its structure, origin and evolution. There have been three major revolutions in cosmological theories: 1) Ptolemy's 2nd century Earth-centered model, 2) Copernicus' 16th century Sun-centered model, and 3) Hubble's 20th century Big Bang model of an expanding universe. The Big Bang model is supported by observational evidence including the cosmic microwave background radiation, abundance of light elements, and accelerating expansion of the universe driven by dark energy. While well-established, the Big Bang model continues to be refined as new discoveries are made about dark matter and the nature of the early universe.