Classification of the FRW universe with a cosmological constant and a perfect fluid of the equation of state p=wρp = w\rho

We systematically study the evolution of the Friedmann-Robertson-Walker (FRW) universe coupled with a cosmological constant $\Lambda$ and a perfect fluid that has the equation of state $p=w\rho$, where $p$ and $\rho$ denote, respectively, the pressure and energy density of the fluid, and $w$ is an arbitrary real constant. Depending on the specific values of $w,\; \Lambda$, and the curvature $k$ of 3-dimensional space, we separate all of the solutions into various cases. In each case the main properties of the evolution are given in detail, including the periods of deceleration and/or acceleration, and the existence of big bang, big crunch, and big rip singularities. In some cases, errors in classification and interpretation appearing in standard textbooks have been corrected.Comment: revtex4, 24 figure