I have never understood this theme at school and up till now. But some days ago I had to explain it to one girl... Oh I've never felt myself so stupid! So at last I was forced to learn it! I hated it! But here is what I understood:

1) Want, would like, consider,guess,wish, expect, believe, know, think, allow...(me, him, her, it, us,them,you, children, my mum...)+to V

2) make, command, force, let,get (me, him....) + V

3) here, notice, feel, listen, watch, observe (me,him.....) +V (completed action) / Ving(action in progress)

So... Am I right or there's some nuances according infinitive, for instance, not only in indefinite form....I know us to use that  in passive voice,too.