A friend solved my problem by adding the following code underneath the existing code:
RewriteCond %{HTTP_HOST} !^$
RewriteCond %{HTTP_HOST} !^www\. [NC]
RewriteCond %{HTTPS}s ^on(s)|
RewriteRule ^ http%1://www.%{HTTP_HOST}%{REQUEST_URI} [R=301,L]
Now everything works perfectly! The complete .htaccess file now looks like:
DirectoryIndex index.php
RewriteEngine on
RewriteBase /
RewriteCond %{REQUEST_FILENAME} !-f
RewriteCond %{REQUEST_FILENAME} !-d
RewriteCond $1 !^(index\.php|robots\.txt)
RewriteRule ^(.*)$ index.php?/$1 [L]
RewriteCond %{HTTP_HOST} !^$
RewriteCond %{HTTP_HOST} !^www\. [NC]
RewriteCond %{HTTPS}s ^on(s)|
RewriteRule ^ http%1://www.%{HTTP_HOST}%{REQUEST_URI} [R=301,L]