We have explored a landscape of normal modal systems characterizing different classes of frames. We now outline a method for the justification of the fact that a normal modal system characterizes a class of frames by which, we mean, as usual that for all modal formulas,
That is, proves all (Completeness) and only (Soundness) formulas, which are valid in all frames in . One direction (Soundness) requires one to verify that the axioms of are valid in all frames in , and that the rules of inference of preserve validity in all frames in .
We will now focus on the other direction (Completeness), which we approach by contraposition: if is not a theorem of , then is not valid in every frame in . That is, we will build a special model based on a frame in in which the formula fails. The model in question will be what is known as the canonical model for the system , and the main task will often be to verify that the canonical model for is based on a frame in .
Canonical Models
First, some preliminary definitions.
Definition 11.1 (Derivability) A modal formula is -derivable from , written , if, and only if, there is a finite conjunction of formulas for which:
Notice that this is not quite how we defined derivability in propositional logic since we make no allowance for premises in a derivation. To allow for premises would lead to undesirable results in the presence of the rule of necessitation.
Definition 11.2 (Consistency) A set of modal formulas is -consistent if, and only if, . That is, there is no finite conjunction of formulas for which:
Otherwise, we call , -inconsistent. We will write that a modal formula is -consistent if its singleton set is -consistent, that is, if .
We will exploit the fact that -consistent sets of modal formulas have a number of helpful features we record now.
Proposition 11.1 For all modal formulas in ,
Proof. We look at each direction in turn.
() If , then . Since , we have . So, is -inconsistent.
() If -inconsistent, for some conjunction of members of , we have . Since , we have that and .
Definition 11.3 (Maximal Consistency) A set of modal formulas is maximal -consistent if, and only if,
- is -consistent, and
- for each modal formula , if is -consistent, then .
Maximal -consistent sets satisfy a variety of helpful decomposition principles.
Lemma 11.1 If is a normal modal system and is a maximal -consistent set of modal formulas, then:
Proof. We look at each claim in turn.
There are two directions.
() If , then is -inconsistent. On the other hand, if , then, by definition of maximal -consistency, would be -inconsistent making -inconsistent. So, .
() If , then since .
We look at each direction in turn.
() If , then . So, if is -consistent, then .
() If , then is -inconsistent. So, is -inconsistent, and by Proposition 5.1 .
The proof of part 3 is analogous.
Definition 11.4 Given two maximal -consistent sets of modal formulas and , we write iff for each modal formula in , is in . Or, in other words, iff .
We will often make use of an alternative characterization of the relation just now introduced for a canonical model.
Lemma 11.2 For all maximal -consistent sets ,
Proof. () Suppose . Suppose now that . For a reductio, suppose . In that case, , which means, by assumption, that . Since is , we have that . Since , we have and , which completes the reductio.
() Suppose . We argue for the contrapositive: if , then . Suppose that . Since is , we have that . By maximal -consistency of , , which, by assumption, requires . It follows that .
Lemma 11.3 If is a normal modal system and is a maximal -consistent set of modal formulas, then:
Proof. We distinguish two directions:
() Consider the set of modal formulas
Notice that if is a maximal -consistent, which includes that union as a subset, then , and we would be done.
We now argue that the set given above is -consistent.
Suppose not. Then there is a conjunction of modal formulas with such that
Thus:
Since is a normal modal system, we have:
Since is maximal -consistent, it contains every theorem of . Therefore:
Because , by lemma 5.1, we infer:
But since abbreviates , is equivalent to , and given the -consistency of , we have thereby contradicted the assumption that
We conclude that the set
is -consistent and can be extended to a maximal -consistent set . It follows that and .
() This direction is trivial once we unpack the definition of .
We will now exploit the features of maximal -consistent sets of modal formulas to define the canonical model for a modal system .
Definition 11.5 (Canonical Model) The canonical model for a modal system is a model of the form , where:
consists of all maximal -consistent sets of modal formulas,
for all maximal -consistent sets ,
if, and only if, . That is, whenever .
for each propositional variable ,
.
The interest of canonical models is that they are governed by the truth lemma according to which a world in the canonical model for verifies a modal formula if, and only if, that very formula is a member of the world conceived as a maximal -consistent set of modal formulas.
Lemma 11.4 (Truth Lemma) For each maximal -consistent set of modal formulas ,
The justification for the truth lemma is an induction of the complexity of modal formulas.
We use an induction on the complexity of to establish:
- Base Case:
- Inductive Step for :
- Inductive Step for :
We conclude that verifies exactly those formulas in . So, it follows that is satisfiable.
Completeness
We are finally in a position to prove the completeness theorem for K.
Theorem 11.1 (Completeness Theorem for K) For each modal formulas , if , then . That is, if is valid in every frame, then is a theorem of K.
Proof. We argue by contraposition. Suppose a modal formula is not a theorem of . Then its negation will be -consistent. That means that we may use Lindenbaum’s lemma to extend to a maximal -consistent set . Now, note that is one of the worlds of the canonical model for , , and, by the Truth Lemma, we know that will be true at in the canonical model for . Therefore, fails at a world in the canonical model for . We conclude that is not valid in every frame.
There are further completeness theorems for the normal modal systems in the landscape we have considered. One example is the observation, for example, that a modal formula is a theorem of if . That is, if a formula is valid in every reflexive frame, then is a theorem of .
We argue for the contrapositive. Suppose a modal formula is not a theorem of . Then its negation will be -consistent. We will argue that is true at a world of the canonical model for . That will mean that is false at a world of the canonical model for . Recall that we want to establish the completeness of with respect to the class of reflexive frames, which means that we should verify that fails at some world of some reflexive model. Our observation that fails at the canonical model for will suffice to that purpose only if the canonical model for is reflexive.
To complete the proof, we must verify that the canonical frame for is reflexive: for all maximal -consistent sets of modal formulas , . That will establish that is not valid in every reflexive frame, e.g., is not valid in the canonical frame for , which is reflexive.
Theorem 11.2 (Completeness Theorem for KT) For each modal formulas , if , then . That is, if is valid in every reflexive frame, then is a theorem of .
Proof. We know that if is not a theorem of , then is not valid in the canonical frame for .
We proceed to verify that the canonical frame for is reflexive:
Given how we defined , this is tantamount to the claim:
But since , it follows that and since is closed under -derivability, if , then . So, if , then and .
In order to facilitate the proof of completeness theorems for further normal modal systems, we will argue that there is a correlation between the derivability of all substitution instances of certain axioms and certain features of the accessibility relation for the canonical model for a modal system.
Proposition 11.2 The canonical model for a normal modal system satisfies each condition listed below if it includes as axioms all substitution instances of the corresponding axiom.
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serial on |
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reflexive on |
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symmetric on |
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transitive on |
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euclidean on |
Proof. We unpack the argument for each axiom.
/ is serial on
Suppose proves every substitution instance of the formula .
We proceed to verify that the canonical frame for is serial:
- for all there is some such that .
This is tantamount to the claim:
It will suffice to prove that is -consistent.
Suppose not. Then there is a conjunction of modal formulas with such that
Since is a normal modal system, we have:
Since is maximal -consistent, it contains every theorem of . Therefore:
Because , by lemma 5.1, we infer:
But since ,
Unfortunately, since ,
which would make -inconsistent.
We conclude that the original set is -consistent and can be extended to a maximal -consistent set.
/ is symmetric on
Suppose proves every substitution instance of the formula .
We proceed to verify that the canonical frame for is symmetric:
This is tantamount to the claim:
To prove that conditional, assume the antecedent for arbitrary : . We want to establish the consequent: if , then .
Let . Since , we find that . So, since , it follows that as desired.
/ is transitive on
Suppose proves every substitution instance of the formula .
We proceed to verify that the canonical frame for is euclidean:
This is tantamount to the claim:
To prove that conditional, assume the antecedent for arbitrary : and . We want to establish the consequent: if , then .
If , then since and , it follows that . Since , it follows that , and since , we conclude that as desired.
/ is euclidean on
Suppose proves every substitution instance of the formula .
We proceed to verify that the canonical frame for is euclidean:
This is tantamount to the claim:
To prove that conditional, assume the antecedent for arbitrary : and . We want to establish the consequent: if , then .
Let . Since , . Since , we find that . So, since , it follows that as desired.