Abstract

We investigate model theoretic characterisations of the expressive power of modal logics in terms of bisimulation invariance. The paradigmatic result of this kind is van Benthem’s theorem, which says that a first-order formula is invariant under bisimulation if, and only if, it is equivalent to a formula of basic modal logic. The present investigation primarily concerns ramifications for specific classes of structures. We study in particular model classes defined through conditions on the underlying frames, with a focus on frame classes that play a major role in modal correspondence theory and often correspond to typical application domains of modal logics. Classical model theoretic arguments do not apply to many of the most interesting classes–for instance, rooted frames, finite rooted frames, finite transitive frames, well-founded transitive frames, finite equivalence frames–as these are not elementary. Instead we develop and extend the game-based analysis over such classes and provide bisimulation preserving model constructions within these classes. Over most of the classes considered, we obtain finite model theory analogues of the classically expected characterisations, with new proofs also for the classical setting. The class of transitive frames is a notable exception, with a marked difference between the classical and the finite model theory of bisimulation invariant first-order properties. Over the class of all finite transitive frames in particular, we find that monadic second-order logic is no more expressive than first-order as far as bisimulation invariant properties are concerned — though both are more expressive here than basic modal logic. We obtain ramifications of the de Jongh–Sambin theorem and a new and specific analogue of the Janin–Walukiewicz characterisation of bisimulation invariant monadic second-order for finite transitive frames