1. Modal auxiliary verbs are used with other verbs to express meanings like obligation, permission, possibility, etc. Common modal verbs include can, may, must, should.
2. Modal verbs are grouped based on the number of meanings they express (single or double) and the concepts they convey like ability, obligation, or possibility.
3. When referring to the past, modal verbs are used with perfect infinitives (have + past participle) to express meanings like certainty, possibility, or advice regarding past actions.