PSLV was designed and developed in the early 1990s at Vikram Sarabhai Space Centre near Thiruvananthapuram, Kerala. The inertial systems are developed by ISRO Inertial Systems Unit (IISU) at Thiruvananthapuram. The liquid propulsion stages for the second and fourth stages of PSLV as well as the reaction control systems are developed by the Liquid Propulsion Systems Centre (LPSC) at Mahendragiri near Tirunelveli, Tamil Nadu. The solid propellant motors are processed at Satish Dhawan Space Centre (SHAR)at Sriharikota, Andhra Pradesh which also carries out launch operations. The PSLV was first launched on 20 September 1993. The first and second stages performed as expected, but an attitude control problem led to the collision of the second and third stages at separation, and the payload failed to reach orbit. After this initial setback, the PSLV successfully completed its second mission in 1994. The fourth launch of PSLV suffered a partial failure in 1997, leaving its payload in a lower than planned orbit. Since then, the PSLV has launched 24 times with no further failures. The PSLV is one of world's most reliable launch vehicles. It has been in service for over twenty years and has launched various satellites for historic missions like Chandrayaan-1, Mars Orbiter Mission, Space Capsule Recovery Experiment, Indian Regional Navigation Satellite System (IRNSS) etc. PSLV remains a favourite among various organisations as a launch service provider and has launched over 40 satellites for 19 countries. In 2008 it created a record for most number of satellites placed in orbit in one launch by launching 10 satellites into various Low Earth Orbits. In its thirty fifth flight (PSLV-C33), ISRO's Polar Satellite Launch Vehicle successfully launched the 1425 kg IRNSS-1G, the seventh satellite in the Indian Regional Navigation Satellite System (IRNSS) today afternoon (April 28, 2016) from Satish Dhawan Space Centre SHAR,