Achaemenids. Their real capital was Susa, their ceremonial capital Persepolis, their summer capital Ecbatana (the old Median capital).
Seleucids. The first Seleucid Greek capital was Seleucia-on-Tigris. It was superseded by Antioch.
Parthians. The joint capitals were Ctesiphon-on-Tigris and Susa. Seleucia and Ctesiphon are now in Iraq, south of Baghdad on opposite sides of the Tigris. Susa was briefly taken by Trajan and was the easternmost point reached by the Romans.
Sasanians. Ctesiphon was also the Sasanian capital. It fell to the Arabs.
The ruins of Ctesiphon were the site of a major battle in 1915 between the British and Ottoman empires. The ruins of Persepolis were the site of the monstrous celebration of 2,500 years of Iran’s monarchy staged by the Shah in 1971.
The five cities are all on this map of the Parthian Empire (Encyclopaedia Britannica, low resolution):
Remains of the Sasanian White Palace, Ctesiphon, 1864