Scientific studies have shown that cats can memorize 128 commands.Cats just don't want to. My husband's theory is that cats have memorized 128 commands for their humans to follow.
Our cats may ignore the words but they listen to the tone. When Minney is doing something wrong I just say her name in my, "mom" voice (as my granddaughter puts it) and she stops.
I had a cat for 16 years. I's ask her "are you starving?" and she would roll onto her back and show me her belly. I don't know how she learned that. She did it every time.