bin/magento command not found

1. Navigate to the magento installed root directory
2. To clear cache: sudo php bin/magento cache:clean
3. To Compile: sudo php bin/magento setup:di:compile
4. To upgrade: sudo php bin/magento setup:upgrade
5. To enable mode sudo php bin/magento your command

another option navigates to bin directory and use as
php magento cache:clean