Situational irony
In an example of situational irony, the Queen acts completely out of character after she sleeps in the orchard. This is something the reader might not expect to happen, due to her previous kindness and calmness.
The life of a beggar
Orfeo is a King; however, after the kidnap of his wife, he leaves the court and essentially lives the life of a beggar. He sleeps on the ground and lives on what he can forage, which is ironic considering he is a King.
Dramatic irony
When the King returns to his Kingdom, the reader experiences dramatic irony. They know that he is the King, but his subjects do not.
Returning to the orchard
Despite the fact the Queen has received a message through her dream from the King of the Otherworld, she decides to go back there. This is ironic as we might expect her to avoid the orchard.
Insulting the King
Despite the fact he is the King, Orfeo receives insults about his appearance when he returns. This is ironic because those people are actually insulting their King.