How can an infinite universe expand? I understand the expansion of the universe as actually an increase in the ratio of space to matter. Is this a correct understanding?  Otherwise, I don't understand how an infinite structure can expand.
Expansion means that distances are increasing as a function of time. Say if the distance between two galactic clusters is $D$, then in an expanding Universe the distance is governed by some strictly increasing function of time $a(t)$ called the scale factor where

$$D=a(t)D_0$$

where $D_0$ is the distance at the present time and by definition $a(t_{0})=1$.

Cosmology assumes that the Universe is on large scales the same everywhere (homogeneous) and the same in all directions (isotropic) so the above applies to all distances above a certain scale. The scale factor $a(t)$ can be found from the Friedmann equations and initial conditions.

Expansion is possible in Universes of both finite and infinite spatial extent.

As the volume of a (large enough) region of space increases in proportion to $[a(t)]^3$, but the amount of matter remains constant, the matter density changes in proportion to $[a(t)]]^{-3}$. Expansion however also decreases the kinetic energy of of its contents, so the energy density decreases by a greater factor if the contents has kinetic energy.