| I | undertake | 
|---|---|
| you | undertake | 
| he/she/it | undertakes | 
| we | undertake | 
| you | undertake | 
| they | undertake | 
| I | undertook | 
|---|---|
| you | undertook | 
| he/she/it | undertook | 
| we | undertook | 
| you | undertook | 
| they | undertook | 
| I | have | undertaken | 
|---|---|---|
| you | have | undertaken | 
| he/she/it | has | undertaken | 
| we | have | undertaken | 
| you | have | undertaken | 
| they | have | undertaken | 
| I | had | undertaken | 
|---|---|---|
| you | had | undertaken | 
| he/she/it | had | undertaken | 
| we | had | undertaken | 
| you | had | undertaken | 
| they | had | undertaken | 
