Full Idea
Kripke gave a possible worlds semantics to a whole range of modal logics, and S4 and S5 turned out to be both sound and complete with this semantics. Hence more systems could be designed. S1-S3 failed in soundness, leading to 'impossible worlds'.
Gist of Idea
With possible worlds, S4 and S5 are sound and complete, but S1-S3 are not even sound
Source
report of Saul A. Kripke (A Completeness Theorem in Modal Logic [1959]) by Marcus Rossberg - First-order Logic, 2nd-order, Completeness §4