The Qing dynasty inaugurated a new age in Chinese expansionism. The Qing invaded the Joseon dynasty and incorporated it into its tributary system. Outer Mongolia, Tibet and Xinjiang were incorporated into China following decades of territorial expansion. The Qing dynasty also extended its control into Central Asia and annexed Taiwan, which was previously controlled by the Ming loyalist Kingdom of Tungning. However, the Qing dynasty had little success in its campaigns against Burma, Vietnam, and Nepal. Qing expansionism stopped following its defeat in the First Opium War which marked the start of the "century of humiliation".