| Present "undertake" | I | undertake | |
| Present Continuous "undertake" | I | am undertaking | |
| Simple past "undertake" | I | undertook | |
| Past Continuous "undertake" | I | was undertaking | |
| Present perfect "undertake" | I | have undertaken | |
| Present perfect continuous "undertake" | I | have been undertaking | |
| Past perfect "undertake" | I | had undertaken | |
| Past perfect continuous "undertake" | I | had been undertaking | |
| Future "undertake" | I | will undertake | |
| Future continuous "undertake" | I | will be undertaking | |
| Future perfect "undertake" | I | will have undertaken | |
| Future perfect continuous "undertake" | I | will have been undertaking |