Why would you want to?
I've been capable of "communicating" to animals with focus, my familiar especially but beyond that, "controlling" any being isn't practical nor ethical. It's much better to show respect and ask nicely. Animals and insects sense emotion and will react to it. If you're able to control your emotions, you can gain their trust and use it to communicate your intent toward them. Other creatures minds are not as complex as ours, so most of what you know as thought cannot be comprehended by them. Dogs and cats can learn 30-100 words of ours, so talking to an animal and learning their own behavior is really important to understand each other.