The first three classes are called umm al-abwāb / principal classes in this text. Their middle-radical vowels change between the perfect and imperfect:
ClassPerfect middle vowelImperfect middle vowel
Naṣaraau
Ḍarabaai
Samiʿaia
These classes are also very common. 'Principal' is a technical classification, not a claim that the remaining three are defective or invalid.