4.102 form of following verb
Modals are followed by the base form of a verb.
Note that 'ought' is sometimes regarded as a modal, rather than 'ought to'. 'Ought' is then said to be followed by a 'to'-infinitive.
4.103
Sometimes a modal is followed by the base form of one of the auxiliary verbs 'have' or 'be', followed by a participle.
When a modal is followed by 'be' and a present participle, this indicates that you are talking about the present or the future.
When a modal is followed by 'have' and a past participle, this indicates that you are talking about the past.
In passive structures, a modal is followed by 'be' or 'have been' and a past participle.
A modal is never followed by the auxiliary verb 'do', or by another modal.