Normal modal logics are characterized by the necessitation rule, the distribution axiom, and the duality (or interdefinability) of the possibility and necessity operators (□p ↔ ~♢~p, and ♢p ↔ ~□~p).
In modal logic, a frame (W, R) is a structure of possible worlds W and accessibility relations R, defining the structure of a given system without assigning truth values, while a model adds a valuation function (M = (W, R, V)) to the frame.1 A formula is valid in a frame if it is true in all possible models in that frame.
The accessibility relation (R) determines which worlds are accessible from others. If accessibility is serial (wRv), then every world has access to at least one other world. If accessibility is reflexive (wRw), then every world is accessible to itself. If accessibility is symmetric (wRv → vRw), then if world v is accessible to world w, then world w is accessible to world v. If accessibility is transitive ((wRv ∧ vRu) → wRu), then if world v is accessible to world w, and world u is accessible to world v, then world u is accessible to world w. If accessibility is Euclidean ((wRv ∧ wRu) → vRu), then if worlds v and u are accessible to world w, then u is accessible to v.
It should be noted that all Euclidean relations aren't necessarily reflexive, symmetric, or transitive. The standard formulation of Euclidean accessibility, (wRx ∧ wRy) → xRy, doesn't require symmetric Euclidean accessibility (wRx ∧ wRy) → (xRy ∧ yRx). On the other hand, if a Euclidean relation is combined with reflexivity, it will also be symmetric and transitive, transforming it into an equivalence relation.
Equivalence relations are reflexive, symmetric, and transitive. Universal relations are relations where every member of a set is connected to every other member of the set, including itself. Thus, a difference between equivalence relations and universal relations is that equivalence relations may partition a set into smaller, disjoint clusters or subsets, while universal relations connect every element in a set to every other element.2
The K axiom (□(p → q) → (□p → □q)), doesn't correspond to any accessibility relation. System K doesn't have any requirement regarding the accessibility of possible worlds.
The D axiom (□φ → ♢φ) corresponds to serial accessibility, because seriality requires that for every world w, there must be at least one world v accessible to it (wRv), ensuring that if something is necessary, it is also possible.
The T axiom (□φ → φ), also called the M axiom, corresponds to reflexivity, because reflexivity requires every world to be accessible to itself (wRw), ensuring that if a proposition is necessarily true, then it must be true in our own world.
The B axiom (φ → □♢φ) corresponds to symmetry, because symmetry requires that if a world v is accessible from w, then w is also accessible from v (wRv → vRw), ensuring that if a proposition p is true, then it is necessary that p is possible.
The S4 axiom (□φ → □□φ) corresponds to transitivity, because transitivity requires that if a world u is accessible from w, and v is accessible from u, then v is directly accessible from w ((wRu ∧ uRv) → wRv) ensuring that if a proposition p is necessarily true, then it is necessary that p is necessarily true.
The S5 axiom (♢φ → □♢φ) corresponds to reflexive and Euclidean accessibility, because it requires for all worlds w, x, and y, that if x is accessible to w (wRx), and y is accessible to w (wRy), then y is accessible to x (xRy). Thus, if a world w can see a world x where p is possible, then any world y accessible from w will be accessible to x, ensuring that if p is possible, then it is necessarily possible.
In first-order logic, seriality can be expressed as ∀x∃yRxy (for every x, there is a y it's related to), reflexivity can be expressed as ∀xRxx (everything is related to itself), symmetry can be expressed as ∀x∀y(Rxy → Ryx) (for every x and every y, if x is related to y, then y is related to x), transitivity can be expressed as ∀x∀y∀z((Rxy ∧ Ryz) → Rxz) (for every x and every y and every z, if x is related to y, and y is related to z, then x is related to z), and Euclidean accessibility can be expressed as ∀x∀y∀z((Rxy ∧ Rxz) → Ryz) (for every x and every y and every z, if x is related to y, and x is related to z, then y is related to z).3
In normal modal logic, system K (named after philosopher and logician Saul Kripke) doesn't have any accessibility constraints. It includes the axioms of propositional logic, the distribution axiom, and the necessitation rule. However, it is too weak to prove that necessary truths are actually true (□φ → φ), because it doesn't require reflexive accessibility.
System D in normal modal logic is an extension of system K that includes the D axiom (□φ → ♢φ), corresponding to serial accessibility. System D is the foundational system for standard deontic logic (SDL). However, like system K, it's too weak to prove that necessary truths are actually true, because it doesn't require reflexive accessibility.
System T (or M) is an extension of K and D that includes the T (or M) axiom (□φ → φ), corresponding to reflexivity.
System B is an extension of K, D, and T that includes the B axiom (φ → □♢φ), corresponding to symmetry.
System S4 is an extension of K, D, and T that includes the S4 axiom (□φ → □□φ), corresponding to transitivity.
System S5 is an extension of B or S4 that includes the S5 axiom (♢φ → □♢φ), corresponding to Euclidean accessibility.
The frame conditions for system K are none, D serial, T reflexive, B reflexive and symmetric, S4 reflexive and transitive, and S5 reflexive, symmetric, and transitive. Both KTB4 and KTB5 are reflexive, symmetric, transitive, and Euclidean.
System K is sound and complete with respect to the class of all Kripke frames (which have no constraints on their accessibility relations).
System D is sound and complete with respect to the class of all serial frames.
System T is sound and complete with respect to the class of all reflexive frames.
System B is sound and complete with respect to the class of all frames that are reflexive and symmetric.
System S4 is sound and complete with respect to the class of all frames that are reflexive and transitive.
System S5 is sound and complete with respect to the class of all frames that are reflexive, symmetric, and transitive.
Another way of saying this is that in all serial models, all formulas that are provable are valid, and all formulas that are valid are provable. In all reflexive models, all formulas that are provable are valid, and all formulas that are valid are provable. In all models that are both reflexive and symmetric, all formulas that are provable are valid, and all formulas that are valid are provable, and so on.
If a wff is K-valid, then it is also D-, T-, B-, S4-, and S-5 valid. If a wff is D-valid, then it is also T-, B-, S4-, and S-5 valid. If a wff is T-valid, then it is also B-, S4-, and S-5 valid. If a wff is B-valid, then it is also S-5 valid, and if a wff is S-4 valid, then it is also S-5 valid.
The S-5 models are a subset of the B models and the S4 models, the B models and the S-4 models are subsets of the T models (but not of each other), the T models are a subset of the D models, and the D models are a subset of the K models.4
K is the weakest system, because it has the smallest number of valid formulas and the greatest number of potentially falsifying models. S-5 is the strongest system, because it has the greatest number of valid formulas, and the smallest number of potentially falsifying models.5
The soundness of normal modal logics can be established by showing that the axioms of a particular system (such as D, T, B, S4, or S5) are valid, and then by inference rules such as modus ponens and the necessitation rule, showing that any formulas derived from the axioms will also be valid. So, by induction, every formula derivable from the axioms will also be valid.
If a wff is shown to be K-valid, then it will also be valid in all the stronger systems (D, T, B, S4, and S5). If a wff is D-valid, then it will also be valid in all the stronger systems (B, S4, and S5). If a wff is shown to be T-valid, then it will also be valid in all the stronger systems (B, S4, and S5).
However, not every formula that is B-valid is S4-valid, and not every formula that is S4-valid is B-valid. The B-axiom is B-valid but not S4-valid (because it is not valid in frames that are reflexive and transitive but not symmetric), and the formula □♢A → ♢□A is S4-valid but not B-valid (because it is not valid in frames that are reflexive and symmetric but not transitive). However, every formula that is B-valid or S4-valid is S5-valid.
The completeness of normal modal logics can be established by the canonical model method. A canonical model of a logic, M = (W, R, V), consists of W (a set of all maximal consistent sets of formulas), R (an accessibility relation), and V (a valuation), and it may serve as a universal counter-model by showing that every formula not provable in the logic is false in the model. (A set of formulas is maximally consistent when no additional formula can be added to it without making it inconsistent.)
However, while many normal modal logics (such as K, D, T, B, S4 and S5) are both sound and complete with respect to their frame conditions, some normal modal logics (such as van Bentham's logic, denoted vB), are incomplete. Incomplete normal modal logics are systems that cannot be characterized by any class of Kripke frames, meaning that they cannot prove all the formulas that are valid in their own frame semantics.6
Non-normal modal logics differ from normal modal logics, because they lack the necessitation rule or the distribution axiom. While normal modal logics are interpreted using Kripke semantics, non-normal modal logics are typically interpreted using neighborhood semantics.
Neighborhood semantics differ from Kripke semantics, because instead of using a relational frame (W, R) consisting of a set W of worlds and an accessibility relation R that indicates which worlds are accessible from others, they use a neighborhood frame (W, N) consisting of a set W of worlds and a neighborhood function N that assigns to each element of W a set of subsets (or neighborhoods) of W.7
Non-normal modal logics are generally sound and complete with respect to their neighborhood semantics.8
Logic E is the minimal or weakest system of non-normal modal logic. It serves as a basis for constructing stronger systems, and it includes the congruence rule (if ⊢ φ ↔ ψ, then ⊢ □φ ↔ □ψ). Additional axioms, such as T, C, or N, can be added to Logic E to form stronger modal systems.
Axiom C (□A ∧ □ B) → □(A ∧ B) signifies that if two propositions are individually necessary, then their conjunction is also necessary.
Axiom N (□T) signifies that all tautologies are necessarily true.
Logic E is sound and complete with respect to general neighborhood frames.9 Adding axiom T to Logic E yields the system ET, which is characterized by reflexive accessibility in its neighborhood semantics.
System ET includes the congruence rule and the T axiom, and it is sound and complete with respect to all reflexive neighborhood models. All formulas provable in system ET are valid in all reflexive neighborhood models, and all valid formulas in all reflexive neighborhood models are provable in system ET.
If Axioms, T, C, and N are all added to E, then the resulting system becomes a normal modal logic equivalent to K, which is also sound and complete in the corresponding semantic models.
Strong completeness may be distinguished from weak completeness. Blackburn (2001) explains that a logic Λ is strongly complete with respect to a class of frames S, if for any set of formulas 𝛤, where φ ∈ 𝛤, if 𝛤 ⊨S 𝜙, then 𝛤 ⊢S 𝜙. A logic Λ is weakly complete with respect to a class of frames S if for any formula φ, if S ⊨ 𝜙, then ⊢Λ 𝜙. Weak completeness is therefore a special case of strong completeness in which 𝛤 is empty. Strong completeness with respect to a class of frames also implies weak completeness with respect to that same class of frames.10
Most normal logic systems (like K, D, T, B, S4, and S5) are strongly complete with respect to their corresponding classes of Kripke frames.
Normal modal logic systems that are weakly complete but not strongly complete are typically characterized by having Kripke semantics that are not compact, meaning that an infinite set of formulas 𝛤 may be unsatisfiable in the given system, even though every finite subset of 𝛤 is satisfiable.
The Gödel-Löb (GL) logic and the Grz (Grzegorczyk) logic are two such logical systems. Their respective semantics are not compact, and thus they are weakly complete but not strongly complete.
The GL logic results from adding the Gödel-Löb axiom, □(□p → p) → □p, to system K. The GL logic is sound and weakly complete with respect to the class of all finite, transitive, converse well-founded frames.
A well-founded frame is a frame in which the accessibility relation has no infinite descending sequences of worlds. A converse well-founded frame is a frame in which the accessibility relation has no infinite ascending sequences of worlds (if you start at any world w, and you follow the accessibility relation upward, you can't go on forever). Such a class of frames is called irreflexive, because the absence of infinite ascending sequences means that no world can relate to itself, since a self-relation could create an infinite cycle and diverge from the well-foundedness condition.11
The Grz logic results from adding the Grz axiom, □(□p → □p)→ p) → p, to system K. It is sound and weakly complete with respect to the class of all finite, reflexive, transitive, converse well-founded frames.
For compact logics (like K, D, T, B, S4, and S5), strong completeness follows from weak completeness. However, in non-compact logics, (like GL and Grz), a system can be weakly complete without being strongly complete.
FOOTNOTES
1Jordan Hebert, "Completeness in Modal Logic," 2020, p. 3, online at
https://math.uchicago.edu/~may/REU2020/REUPapers/Hebert.pdf
2Open Logic Project Builds, "Equivalence Relations and S5," online at
https://builds.openlogicproject.org/content/normal-modal-logic/frame-definability/equivalence-S5.pdf
https://builds.openlogicproject.org/content/normal-modal-logic/frame-definability/equivalence-S5.pdf
3Mark Jago, "Systems of Modal Logic," 2021, online at
https://www.youtube.com/watch?v=fl4JWORXOLY&list=PLwSlKSRwxX0qXTZKnIT7l4_YAIWpJcZJ9&index=4
4Theodore Sider, Logic for Philosophy (Oxford: Oxford University Press, 2010), p. 186.
6J.F.A.K. van Benthem, "Two Simple Incomplete Modal Logics," in Theoria, Vol. 44 (1), April 1978, pp. 25-37.
7Eric Pacuit, "Neighborhood Semantics for Modal Logic: An Introduction," July 3, 2007, p. 11, online at https://www-cs.stanford.edu/~epacuit/classes/esslli/nbhdesslli.pdf
8Atefeh Rohani and Thomas Studer, "Explicit Non-Normal Modal Logic," in Journal of Logic and Computation, Volume 35, Issue 6, September 2025, online at
https://academic.oup.com/logcom/article/35/6/exae052/7930603
9Brian Chellas, Modal Logic: An Introduction (Cambridge: Cambridge University Press, 1980), p. 257.
10Patrick Blackburn, Maarten de Rijke, and Yde Venema, Modal Logic (Cambridge: Cambridge University Press, 2001), p. 194.
11Rineke Verbrugge, "Provability Logic," Stanford Encyclopedia of Philosophy, 2010, online at https://plato.stanford.edu/archives/fall2012/entries/logic-provability/