You are welcome to answer questions posted in the Ask a Teacher forum as long as your suggestions, help, and advice reflect a good understanding of the English language. If you are not a teacher, you will need to state that clearly at the top of your post. Please note, all posts are moderated by our in-house language experts, so make sure your suggestions, help, and advice house the kind of information an international language teacher would offer. If not, and your posts do not contribute to the topic in a positive way, they will be subject to deletion.
I'm not sure what is meant by verb one and verb three. Also, I don't see why that form can't be used in the past perfect tense (but I'm willing to be convinced).
I agree with Lib- 'have to' and 'be able to' are not exactly modals, but are used as ways of filling in for 'must' and 'can' respectively in forms that cannot be expressed by the modal, like futures with 'will', perfect aspects, etc.