The company continued to experience resistance from local rulers during its expansion. Robert Clive led company forces against Siraj Ud Daulah, the last independent Nawab of Bengal, Bihar, and Midnapore district in Odisha to victory at the Battle of Plassey in 1757, resulting in the conquest of Bengal. This victory estranged the British and the Mughals, since Siraj Ud Daulah was a Mughal feudatory ally.With the gradual weakening of the Marathas in the aftermath of the three Anglo-Maratha wars, the British also secured the Ganges-Jumna Doab, the Delhi-Agra region, parts of Bundelkhand, Broach, some districts of Gujarat, the fort of Ahmmadnagar, province of Cuttack (which included Mughalbandi/the coastal part of Odisha, Garjat/the princely states of Odisha, Balasore Port, parts of Midnapore district of West Bengal), Bombay (Mumbai) and the surrounding areas, leading to a formal end of the Maratha empire and firm establishment of the British East India Company in India.Hyder Ali and Tipu Sultan, the rulers of the Kingdom of Mysore, offered much resistance to the British forces. Having sided with the French during the Revolutionary War, the rulers of Mysore continued their struggle against the company with the four Anglo-Mysore Wars. Mysore finally fell to the company forces in 1799, with the death of Tipu Sultan.The fall of Tipu Sultan and theSultanate of Mysore, during the Battle of Seringapatam in the year 1799.The last vestiges of local administration were restricted to the northern regions of Delhi, Oudh, Rajputana, andPunjab, where the company's presence was ever increasing amidst infighting and offers of protection among the remaining princes. The hundred years from the Battle of Plassey in 1757 to the Indian Rebellion of 1857were a period of consolidation for the company,
The Doctrine of Lapse was an annexation policy purportedly devised by Lord Dalhousie, who was the Governor General for the East India Company in India between 1848 and 1856. According to the Doctrine, any princely state or territory under the direct influence (paramountcy) of the British East India Company (the dominant imperial power in the subcontinent), as a vassal state under the British Subsidiary System, would automatically be annexed if the ruler was either "manifestly incompetent or died without a direct heir".