Oh, I hear you all!! (This is now going to out me to people who know me...)
My MIL ran a "spotless house", baked, milked 70 cows twice a day, helped on the farm, did all the washing/ironing/cleaning, cooked a full lunchtime 3 course meal for 4, fucked up the accounts did all the farm admin, rivaled Mother Theresa for sainthood... And drove me fucking insane! I can still only deal with her in very small doses.
She then went downhill with depression following the BIL fiasco, and the house became a hoarders shit-hole. DH moved in with me because he couldn't cope with the mess. Then she moved out, I moved in to the farmhouse and we had a bonfire for 3 days to get rid of her crap. I kid you not, the house was so dirty, the pans were stuck to the bottom of the cupboards with mouse shit. After day 3 of the bonfire and clearing out her crap, the default setting for "everything" not nailed down I didn't want, was to burn it.
I trained DH VERY quickly, aided by my slightly "brain damaged" cat (She was kicked in the head as a kitten before I rescued her). The "laundry fairy" does not exist. If he left his clothes on the floor, my cat will pee on them. If the clothes go in the wash basket, they get washed. If he doesn't put his clean clothes in the basket away and leaves them on the floor, my cat will pee on them. If you leave the towels on the floor, the cat will pee on them...
It's amazing how cat pee concentrates the mind! 
Cantthinkof1 - TELL DH you're having a cleaner. Then inform him that you're not his mother and things run your way.
If MIL wants to bang on about how you're "inadequate", let her bang on.
Life is too short and as I put it to DH, this is a working farmhouse, he doesn't live in a slum, the place is clean and he's not embarrassed by a mess when people come over. Plus, this place is 850 years old, full of woodworm and damp, with crappy windows, no central heating, wood burning stoves and a 1960's bathroom. I'm not a miracle worker! 