Make sure you have read the legal bit on my home page.
Note that, depending on the social situation, some of the patterns for expressing preferences and recommendations can also sometimes be interpreted as orders, instructions or prohibitions.
mahoutsukaisamahasaburinasanniodoruyounimeireishimashita. "The wizard commanded Sabrina to dance." meireisuru is "command".
watashihamahoutsukaisamahanitataruyounionegaishimashita. "I asked the wizard to cast a spell." onegaisuru is "request". Remember (once again) that one does not tell wizards to do anything. One requests, very politely.
The basic pattern is A youniiimasu or A younitoiimasu, which both mean "tell someone to do A". The to is entirely optional. iimasu is the polite form of iu, "to say" or "to tell".
saburinasanninuguyouniiimasu. "Tell Sabrina to undress." The wizard might use this sentence pattern to advise someone else to tell Sabrina to undress. However, since this sentence is in itself a sort of command (even though possibly intended as advice), the ruffians would not use it when addressing the wizard (one would, instead, request a favour).
mahoutsukaisamahasaburinasanniodoretomeireishimashita. "The wizard commanded Sabrina to dance." meireisuru is "command".
warumonohasaburinasanninugetoiimashita. "The ruffians told Sabrina to undress."
The basic pattern is A toiimasu, "tell someone to do A", where A is the imperative form of the verb. iimasu is the polite form of iu, "to say" or "to tell".
The pattern can also be used, negated, for prohibitions.
mahoutsukaisamahasaburinasannihanasunatoiimashita. "The wizard told Sabrina not to talk."