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This article is focused on the development of hydrogen fuelled engine with detailed exposure on its derivation from base Compressed Natural Gas (CNG) engine to discuss the phenomenon on backfiring, control strategies (to avoid knocking and backfiring) and its performance, emission characteristics. In this work, timed manifold injection system was developed to have efficient control over the fuel supply. To achieve the best performance and emission out of the engine, governing parameter like injector pulse width and ignition timing were optimized at full load, part load and idling. For comparison of the results with the same engine experiments were also conducted with base fuel CNG and gasoline using the conventional fuel supply system. It was experimentally observed that engine when fuelled with Hydrogen (H2) produces less maximum power compared to CNG and gasoline.