udire (to listen)

odo

Oda!

Odano!

uscire (to exit)

esco

Esca!

Escano!

venire (to come)

vengo

Venga!

Vengano!

Finally, some verbs have irregular formal command forms that are not based on any present-indicative forms, and which you will have to memorize. These verbs are listed below.