Visit https://testbankfan.

com to download the full version and

explore more testbank or solutions manual

Feedback Control of Dynamic Systems 8th Edition

Franklin Solutions Manual

_____ Click the link below to download _____

https://testbankfan.com/product/feedback-control-of-dynamic-
systems-8th-edition-franklin-solutions-manual/

Explore and download more testbank or solutions manual at testbankfan.com

Here are some recommended products that we believe you will be
interested in. You can click the link to download.

Feedback Control of Dynamic Systems 7th Edition Franklin

Solutions Manual

https://testbankfan.com/product/feedback-control-of-dynamic-
systems-7th-edition-franklin-solutions-manual/

Feedback Control Systems 5th Edition Phillips Solutions

Manual

https://testbankfan.com/product/feedback-control-systems-5th-edition-
phillips-solutions-manual/

Modern Control Systems 13th Edition Dorf Solutions Manual

https://testbankfan.com/product/modern-control-systems-13th-edition-
dorf-solutions-manual/

Modern Control Systems 12th Edition Dorf Solutions Manual

https://testbankfan.com/product/modern-control-systems-12th-edition-
dorf-solutions-manual/
Management Control Systems 4th Edition Merchant Solutions
Manual

https://testbankfan.com/product/management-control-systems-4th-
edition-merchant-solutions-manual/

Management Control Systems 3rd Edition Merchant Solutions

Manual

https://testbankfan.com/product/management-control-systems-3rd-
edition-merchant-solutions-manual/

Classical Electromagnetism 1st Edition Franklin Solutions

Manual

https://testbankfan.com/product/classical-electromagnetism-1st-
edition-franklin-solutions-manual/

Process Systems Analysis and Control 3rd Edition

Coughanowr Solutions Manual

https://testbankfan.com/product/process-systems-analysis-and-
control-3rd-edition-coughanowr-solutions-manual/

Fundamentals of Information Systems 8th Edition Stair

Solutions Manual

https://testbankfan.com/product/fundamentals-of-information-
systems-8th-edition-stair-solutions-manual/
6000

Solutions Manual: Chapter 6

8th Edition

Feedback Control of Dynamic

Systems .

Gene F. Franklin
.

J. David Powell
.

Abbas Emami-Naeini
.

Assisted by:
H. K. Aghajan
H. Al-Rahmani
P. Coulot
P. Dankoski
S. Everett
R. Fuller
T. Iwata
V. Jones
F. Safai
L. Kobayashi
H-T. Lee
E. Thuriyasena
M. Matsuoka

Copyright (c) 2018 Pearson Education

All rights reserved. No part of this publication may be reproduced, stored

in a retrieval system, or transmitted, in any form or by any means, electronic,
mechanical, photocopying, recording, or otherwise, without the prior permission
of the publisher.
Chapter 6

The Frequency-response
Design Method

Problems and Solutions for Section 6.1

1. (a) Show that 0 in Eq. (6.2) is given by

U0 ! 1
0 = G(s) = U0 G( j!)
s j! s= j! 2j

and
U0 ! 1
0 = G(s) = U0 G(j!) :
s + j! s=+j! 2j

(b) By assuming the output can be written as

j!t j!t
y(t) = 0e + 0e ;

derive Eqs. (6.4) - (6.6).

Solution:

(a) Eq. (6.2):

1 2 n o o
Y (s) = + + + + +
s p1 s p2 s pn s + j! o s j! o

Multiplying this by (s + j!) :

1 n o
Y (s)(s+j!) = (s+j!)+:::+ (s+j!)+ o+ (s+j!)
s + a1 s + an s j!

6001
6002 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

1 n o
) o = Y (s)(s + j!) (s + j!) ::: (s + j!) (s + j!)
s + a1 s + an s j!
1 o
o = o js= j! = Y (s)(s + j!) (s + j!) ::: (s + j!)
s + a1 s j! s= j!
Uo !
= Y (s)(s + j!)js= j! = G(s) 2 (s + j!)js= j!
s + !2
Uo ! 1
= G(s) js= j! = Uo G( j!)
s j! 2j

Similarly, multiplying Eq. (6.2) by (s j!) :

1 n o
Y (s)(s j!) = (s j!) + ::: + (s j!) +
(s j!) + o
s + a1 s + an
s + j!
Uo !
o = o js=j! = Y (s)(s j!)js=j! = G(s) 2 (s j!)js=j!
s + !2
Uo ! 1
= G(s) js=j! = Uo G(j!)
s + j! 2j

(b)
j!t j!t
y(t) = oe + oe
1 j!t 1 j!t
y(t) = Uo G( j!) e + Uo G(j!) e
2j 2j
G(j!)ej!t G( j!)e j!t
= Uo
2j
n o1
2 2 2
jG(j!)j = Re [G(j!)] + Im [G(j!)] =A
Im [G(j!)]
\G(j!) = tan 1
=
Re [G(j!)]
n o1
2 2 2
jG( j!)j = Re [G( j!)] + Im [G( j!)] = jG(j!)j
n o 21
2 2
= Re [G(j!)] + Im [G(j!)] =A
Im [G( j!)] Im [G(j!)]
\G( j!) = tan 1
= tan 1
=
Re [G( j!)] Re [G(j!)]
) G(j!) = Aej ; G( j!) = Ae j

Thus,

Aej ej!t
Ae j
e j!t
ej(!t+ )
e j(!t+ )
y(t) = Uo = Uo A
2j 2j
y(t) = Uo A sin(!t + )
 6003

where
Im [G(j!)]
A = jG(j!)j ; = tan 1
= \G(j!)
Re [G(j!)]

2. (a) Calculate the magnitude and phase of

1
G(s) =
s + 10

by hand for ! = 1, 2, 5, 10, 20, 50, and 100 rad/sec.

(b) sketch the asymptotes for G(s) according to the Bode plot rules, and
compare these with your computed results from part (a).
Solution:

(a)

1 1 10 j!
G(s) = ; G(j!) = =
s + 10 10 + j! 100 + ! 2
1 !
jG(j!)j = p ; \G(j!) = tan 1
100 + ! 2 10

! jG(j!)j \G(j!)
1 0:0995 5:71
2 0:0981 11:3
5 0:0894 26:6
10 0:0707 45:0
20 0:0447 63:4
50 0:0196 78:7
100 0:00995 84:3

(b) To plot the asymptotes, you …rst note that n = 0; as de…ned in Sec-
tion 6.1.1. That signi…es that the leftmost portion of the asymptotes
will have zero slope. That portion of the asymptotes will be located
at the DC gain of the transfer function, which, in this case it can
be seen by inspection to be 0.1. So the asymptote starts with a
straght horizontal line at 0.1 and that continues until the breakpoint
at ! = 10, at which point the asymptote has a slope of n = 1 that
continues until forever, at least until the edge of the paper. The
values computed above by "hand" (at least we hope you didn’t cheat)
are plotted on the graph below and you see they match quite well
except very near the breakpoint, a you should have expected. The
Bode plot is :
6004 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Problem 6.2

0
10

-1

Magnitude
10

-2
10

-3
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
20
0
Phase (deg)

-20
-40
-60
-80
-100
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

3. Sketch the asymptotes of the Bode plot magnitude and phase for each
of the following open-loop transfer functions. After completing the hand
sketches verify your result using MATLAB. Turn in your hand sketches
and the MATLAB results on the same scales.
2000
(a) L(s) =
s(s + 200)
100
(b) L(s) =
s(0:1s + 1)(0:5s + 1)
1
(c) L(s) =
s(s + 1)(0:02s + 1)
1
(d) L(s) =
(s + 1)2 (s + 10)2
10(s + 4)
(e) L(s) =
s(s + 1)(s + 200)
1000(s + 0:1)
(f) L(s) =
s(s + 1)(s + 8)2
 6005

(s + 5)(s + 10)
(g) L(s) =
s(s + 1)(s + 100)
4s(s + 10)
(h) L(s) =
(s + 100)(s + 500)
s
(i) L(s) =
(s + 1)(s + 10)(s + 200)

Solution:

10
(a) L(s) = s
s 200 +1
The asymptote will have magnitude = 10 at ! = 1 and have a -1 slope
at the low frequencies. So the low frequency asymptote will pass
through magnitude = 1, at ! = 10: At ! = 200; the slope changes to
-2, and that slope continues forever. The phase asymptotes are even
simpler and shown in the plot below along with the Matlab generated
exact curve.

Bode plot for Prob. 6.3 (a)

0
10
Magnitude

-5
10
1 2 3 4
10 10 10 10
ω (rad/sec)
-80
-100
Phase (deg)

-120
-140
-160
-180
-200
1 2 3 4
10 10 10 10
ω (rad/sec)
6006 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

100
(b) L(s) = s s
s 10 +1 2 +1

Breakpoints are at 2 and 10. The slope starts at n = -1, the changes
to -2 at ! = 2; then changes to -3 at ! = 10: The magnitude on the
-1 slope goes through 100 at ! = 1:Thus, will be 10,000 at ! = 0:01

Bode plot for Prob. 6.3 (b)

Magnitude

0
10

-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-50

-100
Phase (deg)

-150

-200

-250

-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)

1
(c) L(s) = s(s+1)(0:02s+1)

Slope starts at n = -1, becomes -2 at ! = 1; then -3 at n = 50.

Magnitude = 1 at ! = 1:
 6007

Bode plot for Prob. 6.3 (c)

0
10
Magnitude

-5
10

-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
-50

-100
Phase (deg)

-150

-200

-250

-300
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)

1
100
(d) L(s) = 2
s
(s + +1 1)2 10
Initially, slope = 0, then becomes n = -2 at ! = 1; then n = -4 at
! = 10:
0:2 4s + 1
(e) L(s) = s
s(s + 1)(s 200 + 1)
50
32 (10s + 1) (1:56) (10s + 1)
(f) L(s) = 2 = 2
s
s(s + 1) + 1 s(s + 1) 8s + 1
8
Breakpoints are at ! = 0:1; 1; 8 So, to position the low frequency
asymptote, you need to extrapolate the line from ! = 1 backward.
The magnitude at ! = 1 would be 1.56, and to position the asymptote
at ! = 0:1; we need to multiply by 10 due to the -1 slope Therefore,
it is located at a magnitude of 15.6 at ! = 0:1:and will be 156 at
! = 0:01:
1 s s
2 + 1 10
5 +1
(g) L(s) =
s(s + 1)(s + 100)
6008 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Prob 6.3(d)

0
10
Magnitude

-5
10

-1 0 1 2
10 10 10 10
ω (rad/sec)

0
Phase (deg)

-100

-200

-300

-400
-1 0 1 2
10 10 10 10
ω (rad/sec)
 6009

Bode plot for Prob 6.3(e)

0
10
Magnitude

-5
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

-50
Phase (deg)

-100

-150

-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
6010 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Prob 6.3(f)

Magnitude

0
10

-2 -1 0 1 2
10 10 10 10 10
ω(rad/sec)

0
Phase (deg)

-100

-200

-300

-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
 6011

Bode plot for Prob 6.3(g)

0
10
Magnitude

-2
10

-1 0 1 2 3
10 10 10 10 10
ω(rad/sec)

50

0
Phase (deg)

-50

-100

-150

-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
6012 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Prob 6.3(h)

0
10
Magnitude

-2
10

0 1 2 3 4
10 10 10 10 10
ω (rad/sec)

200

150
Phase (deg)

100

50

-50
0 1 2 3 4
10 10 10 10 10
ω (rad/sec)

4 s
5000s 10 +1
(h) L(s) = s s
100 +
1 500 + 1
This one is unusual in that the slope is generally rising with increasing
frequency. Finite output at extremely high frequencies doesn’t really
happen in nature, but hey, this is a theoretical homework problem to
check whether you can follow the rules and do what the math tells
you to do.
1
2000 s
(i) L(s) = s s
(s + 1) 10 + 1 ( 200 + 1)

4. Real poles and zeros. Sketch the asymptotes of the Bode plot magnitude
and phase for each of the following open-loop transfer functions. After
completing the hand sketches verify your result using MATLAB. Turn in
your hand sketches and the MATLAB results on the same scales.
1
(a) L(s) =
s(s + 1)(s + 5)(s + 10)
 6013

Bode plot for Prob 6.3(i)

-2
10
Magnitude

-4
10

-6
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

100
Phase (deg)

-100

-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
6014 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

(s + 2)
(b) L(s) =
s(s + 1)(s + 5)(s + 10)
(s + 2)(s + 6)
(c) L(s) =
s(s + 1)(s + 5)(s + 10)
(s + 2)(s + 8)
(d) L(s) =
s(s + 1)(s + 5)(s + 10)

Solution:

1
50
(a) L(s) = s s
s(s + 1) 5 +1 10 +1

Bode plot for Prob. 6.4 (a)

0
10
Magnitude

-10
10

-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0

-100
Phase (deg)

-200

-300

-400
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

1 s
25 2+1
(b) L(s) = s s
s(s + 1) 5 +1 10 +1
 6015

Bode plot for Prob. 6.4 (b)

0
Magnitude 10

-10
10

-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0

-100
Phase (deg)

-200

-300

-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)

6 s
25 + 1 6s + 1
2
(c) L(s) =
s(s + 1) 5s + 1 10
s
+1
6016 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Prob. 6.4 (c)

0
10

Magnitude
-5
10

-10
10
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0

-50
Phase (deg)

-100

-150

-200

-250
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)

1 s
5 + 1 4s + 1
2
(d) L(s) =
s(s + 1) 5s + 1 8s + 1
 6017

Bode Plot for Prob. 6.4(d)

0
Magnitude 10

-5
10

-10
10
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

0
-50
Phase (deg)

-100
-150
-200
-250
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

5. Complex poles and zeros Sketch the asymptotes of the Bode plot mag-
nitude and phase for each of the following open-loop transfer functions
and approximate the transition at the second order break point based
on the value of the damping ratio. After completing the hand sketches
verify your result using MATLAB. Turn in your hand sketches and the
MATLAB results on the same scales.

1
(a) L(s) =
s2
+ 5s + 20
1
(b) L(s) =
s(s2 + 3s + 10)
(s2 + 2s + 8)
(c) L(s) =
s(s2 + 2s + 10)
(s2 + 1)
(d) L(s) =
s(s2 + 4)
(s2 + 4)
(e) L(s) =
s(s2 + 1)
6018 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Solution:

1
20
(a) L(s) = 2
ps + 5
20 20 s +1

Bode plot for Prob. 6.5(a)

-1
10

-2
Magnitude

10

-3
10

-4
10
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

50
0
Phase (deg)

-50
-100
-150
-200

-1 0 1 2
10 10 10 10
Frequency (rad/sec)

1
10
(b) L(s) = 2
s ps + 3
10 10 s +1
 6019

Bode plot for Prob. 6.5 (b)

0
10
Magnitude

-5
10

-10
10
-1 0 1 2
10 10 10 10
ω (rad/sec)

-50
-100
Phase (deg)

-150
-200
-250
-300
-1 0 1 2
10 10 10 10
ω (rad/sec)

2
4 s
5
p
2 2
+ 14 s + 1
(c) L(s) = 2
s ps + 15 s + 1
10
Exploring the Variety of Random
Documents with Different Content
The Project Gutenberg eBook of Variation in
the Muscles and Nerves of the Leg in Two
Genera of Grouse (Tympanuchus and
Pedioecetes)
 This ebook is for the use of anyone anywhere in the United
States and most other parts of the world at no cost and with
almost no restrictions whatsoever. You may copy it, give it away
or re-use it under the terms of the Project Gutenberg License
included with this ebook or online at www.gutenberg.org. If you
are not located in the United States, you will have to check the
laws of the country where you are located before using this
eBook.

Title: Variation in the Muscles and Nerves of the Leg in Two

Genera of Grouse (Tympanuchus and Pedioecetes)

Author: E. Bruce Holmes

Release date: January 10, 2013 [eBook #41812]

Most recently updated: October 23, 2024

Language: English

Credits: Produced by Chris Curnow, Matthias Grammel, Joseph

Cooper,
some pages courtesy of The Internet Archive and the
Online
Distributed Proofreading Team at http://www.pgdp.net

*** START OF THE PROJECT GUTENBERG EBOOK VARIATION IN

THE MUSCLES AND NERVES OF THE LEG IN TWO GENERA OF
GROUSE (TYMPANUCHUS AND PEDIOECETES) ***
 University of Kansas Publications
Museum of Natural History

Vol. 12, No. 9, pp. 363-474, 20 figs.

October 25, 1963

Variation in the Muscles and

Nerves
of the Leg in Two Genera of
Grouse
(Tympanuchus and Pedioecetes)
BY

E. BRUCE HOLMES

University of Kansas
Lawrence
1963
UNIVERSITY OF KANSAS PUBLICATIONS
MUSEUM OF NATURAL HISTORY
Institutional libraries interested in publications exchange may obtain
this series by addressing the Exchange Librarian, University of
Kansas Library, Lawrence, Kansas. Copies for individuals, persons
working in a particular field of study, may be obtained by addressing
instead the Museum of Natural History, University of Kansas,
Lawrence, Kansas. There is no provision for sale of this series by the
University Library, which meets institutional requests, or by the
Museum of Natural History, which meets the requests of individuals.
Nevertheless, when individuals request copies from the Museum, 25
cents should be included, for each separate number that is 100
pages or more in length, for the purpose of defraying the costs of
wrapping and mailing.
* An asterisk designates those numbers of which the Museum's
supply (not the Library's supply) is exhausted. Numbers published to
date, in this series, are as follows:

Vol. 1. Nos. 1-26 and index. Pp. 1-638, 1946-1950.

* Vol. 2. (Complete) Mammals of Washington. By Walter W. Dalquest. Pp. 1-
444, 140 figures in text. April 9, 1948.
Vol. 3. *1. The avifauna of Micronesia, its origin, evolution, and distribution.
By Rollin H. Baker. Pp. 1-359, 16 figures in text. June 12, 1951.
*2. A quantitative study of the nocturnal migration of birds. By George
H. Lowery, Jr. Pp. 361-472, 47 figures in text. June 29, 1951.
3. Phylogeny of the waxwings and allied birds. By M. Dale Arvey. Pp.
473-530, 49 figures in text, 13 tables. October 10, 1951.
*4. Birds from the state of Veracruz, Mexico. By George H. Lowery, Jr.,
and Walter W. Dalquest. Pp. 531-649, 7 figures in text, 2 tables.
October 10, 1951.
Index. Pp. 651-681.
 (Complete) American weasels. By E. Raymond Hall. Pp. 1-466, 41
* Vol. 4.
plates, 31 figures in text. December 27, 1951.
Vol. 5. Nos. 1-37 and index. Pp. 1-676, 1951-1953.
(Complete) Mammals of Utah, taxonomy and distribution. By Stephen
* Vol. 6.
D. Durrant. Pp. 1-549, 91 figures in text, 30 tables. August 10, 1952.
Vol. 7. Nos. 1-15 and index. Pp. 1-651, 1952-1955.
Vol. 8. Nos. 1-10 and index. Pp. 1-675, 1954-1956.
*1. Speciation of the wandering shrew. By James S. Findley. Pp. 1-68,
Vol. 9.
18 figures in text. December 10, 1955.
2. Additional records and extension of ranges of mammals from Utah.
By tephen D. Durrant, M. Raymond Lee, and Richard M. Hansen,
Pp. 69-80. December 10, 1955.
3. A new long-eared myotis (Myotis evotis) from northeastern Mexico.
By Rollin H. Baker and Howard J. Stains. Pp. 81-84. December 10,
1955.
4. Subspeciation in the meadow mouse, Microtus pennsylvanicus, in
Wyoming. By Sydney Anderson. Pp. 85-104, 2 figures in text. May
10, 1956.
5. The condylarth genus Ellipsodon. By Robert W. Wilson. Pp. 105-
116, 6 figures in text. May 19, 1956.
6. Additional remains of the multituberculate genus Eucosmodon. By
Robert W. Wilson. Pp. 117-123, 10 figures in text. May 19, 1956.
7. Mammals of Coahulia, Mexico. By Rollin H. Baker. Pp. 125-335, 75
figures in text. June 15, 1956.
8. Comments on the taxonomic status of Apodemus peninsulae, with
description of a new subspecies from North China. By J. Knox
Jones, Jr. Pp. 337-346, 1 figure in text, 1 table. August 15, 1956..
9. Extensions of known ranges of Mexican bats. By Sydney Anderson.
Pp. 347-351. August 15, 1956.
10. A new bat (Genus Leptonycteris) from Coahulia. By Howard J.
Stains. Pp. 353-356. January 21, 1957.
11. A new species of pocket gopher (Genus Pappogeomys) from
Jalisco, Mexico. By Robert J. Russell. Pp. 357-361. January 21,
 1957.
12. Geographic variation in the pocket gopher, Thomomys bottae, in
Colorado. By Phillip M. Youngman. Pp. 363-384, 7 figures in text.
February 21, 1958.
13. New bog lemming (genus Synaptomys) from Nebraska. By J. Knox
Jones, Jr. Pp. 385-388. May 12, 1958.
14. Pleistocene bats from San Josecito Cave, Nuevo León, México. By J.
Knox Jones, Jr. Pp. 389-396. December 19, 1958.
15. New subspecies of the rodent Baiomys from Central America. By
Robert L. Packard. Pp. 397-404. December 19, 1958.
16. Mammals of the Grand Mesa, Colorado. By Sydney Anderson. Pp.
405-414, 1 figure in text. May 20, 1959.
17. Distribution, variation, and relationships of the montane vole,
Microtus montanus. By Sydney Anderson. Pp. 415-511, 12 figures
in text, 2 tables. August 1, 1959.
(Continued on inside of back cover)

University of Kansas Publications

Museum of Natural History

Vol. 12, No. 9, pp. 363-474, 20 figs.

October 25, 1963

Variation in the Muscles and

Nerves
of the Leg in Two Genera of
 Grouse
(Tympanuchus and Pedioecetes)
BY

E. BRUCE HOLMES

University of Kansas
Lawrence
1963

University of Kansas Publications, Museum of Natural History

Editors: E. Raymond Hall, Chairman, Henry S. Fitch,

Theodore H. Eaton, Jr.

Volume 12, No. 9, pp. 363-474, 20 figs.

Published October 25, 1963

University of Kansas
Lawrence, Kansas

PRINTED BY
JEAN M. NEIBARGER, STATE PRINTER
TOPEKA, KANSAS
1963
 29-5835

Variation in the Muscles and

Nerves
of the Leg in Two Genera of
Grouse
(Tympanuchus and
Pedioecetes)
BY
E. BRUCE HOLMES
 CONTENTS
PAGE

Introduction 367
Materials and Methods 368
Terminology 369
Acknowledgments 375
Skeleton 375
Nerves 376
Lumbosacral Plexus 376
Femoral Nerve 377
Obturator Nerve 379
Sciatic Nerve 379
Peroneal Nerve 382
Tibial Nerve 384
Muscles 396
M. Extensor Iliotibialis Lateralis 398
M. Extensor Iliotibialis Anticus 405
M. Ambiens 408
M. Vastus Lateralis 408
M. Vastus Medialis 410
M. Piriformis 412
M. Gluteus Profundus 413
M. Iliacus 414
M. Iliotrochantericus Medius 415
M. Psoas 416
M. Flexor Cruris Lateralis 416
M. Flexor Cruris Medialis 417
M. Caudofemoralis 418
M. Flexor Ischiofemorali 420
 M. Adductor Superficialis 420
M. Adductor Profundus 421
M. Obturator 422
M. Femorocruralis 425
M. Gastrocnemius 426
M. Flexor Perforans et Perforatus
427
Digiti II
M. Flexor Perforans et Perforatus
429
Digiti III
M. Flexor Perforatus Digiti IV 430
M. Flexor Perforatus Digiti III 432
M. Flexor Perforatus Digiti II 433
M. Flexor Hallucis Longus 435
M. Plantaris 435
M. Flexor Digitorum Longus 436
M. Popliteus 438
M. Peroneus Longus 438
M. Tibialis Anticus 439
M. Extensor Digitorum Longus 440
M. Peroneus Brevis 441
M. Extensor Hallucis Longus 442
M. Abductor Digiti II 443
M. Extensor Brevis Digiti III 444
M. Extensor Proprius Digiti III 444
M. Extensor Brevis Digiti IV 445
M. Lumbricalis 445
M. Abductor Digiti IV 446
M. Flexor Hallucis Brevis 446
Discussion and Conclusions 446
Analysis of Individual Variation 446
Muscles 447
Nerves 449
 Analysis of Variation Between
451
Species
Comparison with Other Studies of
452
Innervation
Summary 457
Literature Cited 473
 LIST OF ILLUSTRATIONS
PAGE
Fig. 1. Pelvis of Tympanuchus pallidicinctus. A. Lateral view. × 1. B. 370
Ventral view. × 1⅛.
Fig. 2. Ventral views of the lumbosacral plexus of Tympanuchus 386
pallidicinctus. Sympathetic ganglionated chain removed. Numbers
indicate synsacral spinal nerves. × 2. A. T.p. 1L. B. T.p. 2L.
Fig. 3. Ventral views of the lumbosacral plexus. Sympathetic ganglionated 387
chain removed. Numbers indicate synsacral spinal nerves. × 2. A.
Tympanuchus cupido pinnatus 3L. B. Pedioecetes phasianellus
jamesi 4L.
Fig. 4. Semidiagrammatic ventral views of the femoral nerve, showing the 388
distribution of the branches. × 3. 1,2, M. extensor iliotibialis
anticus; 3, cutaneous; 4-6, M. extensor iliotibialis lateralis; 7,8, M.
iliacus; 9, M. gluteus profundus; 10-12, fused Mm. vastus lateralis
and vastus medialis; 13,14, M. vastus medialis; 15, M. ambiens;
16, M. femoritibialis internus; 17, nonmuscular; 18, M. psoas; 19,
M. iliotrochantericus medius. A. Tympanuchus cupido pinnatus 3L.
B. Pedioecetes phasianellus jamesi 3L.
Fig. 5. Semidiagrammatic ventral views of the femoral nerve, showing the 389
distribution of the branches. × 3. 1,2, M. extensor iliotibialis
anticus; 3, cutaneous; 5,6, M. extensor iliotibialis lateralis; 7,8, M.
iliacus; 9, M. gluteus profundus; 10,11, fused Mm. vastus lateralis
and vastus medialis; 13, M. vastus medialis; 15, M. ambiens; 16,
M. femoritibialis internus; 17, nonmuscular; 18, M. psoas; 19, M.
iliotrochantericus medius. A. Tympanuchus pallidicinctus 2L. B.
Tympanuchus cupido attwateri 1R
Fig. 6. Semidiagrammatic dorsolateral view of the sciatic nerve of 390
Pedioecetes phasianellus jamesi 3R, showing the distribution of the
branches. × 2½. 1, M. gluteus profundus; 2, M. piriformis; 3, M.
 extensor iliotibialis lateralis; 4-7, M. extensor iliofibularis; 8, M.
flexor cruris medialis; 9, cutaneous; 10, to pudendal plexus; 11, M.
flexor cruris lateralis; 12, M. caudofemoralis pars caudifemoralis;
13-15, M. caudofemoralis pars iliofemoralis; 16,17, M. flexor
ischiofemoralis; 18,19, M. femorocruralis (branch of tibial nerve);
20, cutaneous; 21, M. gastrocnemius pars media (branch of tibial
nerve); 22, cutaneous.
Fig. 7. Semidiagrammatic dorsolateral view of the sciatic nerve of 391
Tympanuchus pallidicinctus 2L, showing the distribution of the
branches. × 2½. 1, M. gluteus profundus; 2, M. piriformis; 3, M.
extensor iliotibialis lateralis; 4, 7, M. extensor iliofibularis; 8, M.
flexor cruris medialis; 9, cutaneous; 10, to pudendal plexus; 11, M.
flexor cruris lateralis; 12, M. caudofemoralis pars caudifemoralis;
13-15, M. caudofemoralis pars iliofemoralis; 17, M. flexor
ischiofemoralis; 18, M. femorocruralis (branch of tibial nerve); 22,
cutaneous; 23, nonmuscular (branch of peroneal nerve).
Fig. 8. Semidiagrammatic dorsolateral view of the sciatic nerve of 392
Tympanuchus cupido pinnatus 3L, showing the distribution of the
branches. × 2½. 1, M. gluteus profundus; 2, M. piriformis; 3, M.
extensor iliotibialis lateralis; 4,7, M. extensor iliofibularis; 8, M.
flexor cruris medialis; 9, cutaneous; 11, M. flexor cruris lateralis;
12, M. caudofemoralis pars caudifemoralis; 13, M. caudofemoralis
pars iliofemoralis; 17, M. flexor ischiofemoralis; 18, M.
femorocruralis (branch of tibial nerve); 20, cutaneous; 22,
cutaneous.
Fig. 9. Semidiagrammatic dorsolateral view of the sciatic nerve of 393
Pedioecetes phasianellus jamesi 3L, showing the distribution of the
branches. × 2½. 1, M. gluteus profundus; 2, M. piriformis; 3, M.
extensor iliotibialis lateralis; 4,5,7, M. extensor iliofibularis; 8, M.
flexor cruris medialis; 9, cutaneous; 11, M. flexor cruris lateralis;
13,14, M. caudofemoralis pars iliofemoralis; 16,17, M. flexor
ischiofemoralis; 18,19, M. femorocruralis (branch of tibial nerve);
20, cutaneous; 22, cutaneous.
Fig. 10. A,B. Semidiagrammatic drawings of the peroneal nerve of 394
Tympanuchus pallidicinctus 1L, showing the distribution of the
 branches. × 2. C. Semidiagrammatic drawing of the distal part of
the peroneal nerve of Tympanuchus cupido attwateri 1R, showing
the distribution of the branches. × 2. 1,2, M. tibialis anticus (tibial
head); 3,4, M. tibialis anticus (femoral head); 5, M. extensor
digitorum longus; 6, nonmuscular; 7,8, M. peroneus longus; 9, M.
peroneus brevis; 10,11, M. extensor hallucis longus (proximal
head); 12, M. extensor hallucis longus (distal head); 13-15,
nonmuscular (to toes); 16, M. abductor digiti II; 17, M. extensor
brevis digiti III; 18, M. extensor brevis digiti IV.
Fig. 11. A,B. Semidiagrammatic drawings of the tibial nerve (excluding the 395
paraperoneal branch) of Tympanuchus pallidicinctus, showing the
distribution of the branches. × 2. A. T.p. 1L. B. T.p. 3R. C.
Semidiagrammatic drawing of the distal part of the paraperoneal
branch of the tibial nerve of Pedioecetes phasianellus jamesi 2L,
showing the distribution of the branches. × 2. 1, M. femorocruralis;
2, M. gastrocnemius pars media; 3, M. popliteus; 4, M. plantaris; 5,
M. flexor digitorum longus; 6-8, nonmuscular; 9-11, M.
gastrocnemius pars interna; 12,13, M. flexor hallucis longus; 14-16,
M. flexor perforatus digiti IV (medial head); 17, M. flexor perforatus
digiti III (medial head); 18-20, M. flexor perforatus digiti II; 21, M.
flexor perforatus digiti IV (lateral head); 22-24, M. flexor perforatus
digiti IV (anterolateral head); 25, M. flexor perforatus digiti III
(anterolateral head); 26, M. flexor perforans et perforatus digiti III;
27,28, M. flexor perforans et perforatus digiti II; 29, M.
gastrocnemius pars externa; 30,31, M. abductor digiti IV; 32,33, M.
flexor hallucis brevis; 34,35, nonmuscular (to toes).
Fig. 12. Tympanuchus pallidicinctus 2L. Lateral view of the superficial 397
muscles of the left leg. × 1.
Fig. 13. Tympanuchus pallidicinctus 2L. Medial view of the superficial 398
muscles of the left leg. × 1. Articular capsule shown by
concentrically arranged dashes.
Fig. 14. Tympanuchus pallidicinctus 2L. Lateral view of the muscles of the 399
left leg. The following muscles have been removed: extensor
iliotibialis lateralis, extensor iliotibialis anticus, gastrocnemius pars
externa and pars interna, and peroneus longus. × 1.
Fig. 15. Tympanuchus pallidicinctus 2L. Medial view of the muscles of the 400
left leg. The following muscles have been removed: extensor
iliotibialis lateralis, extensor iliotibialis anticus, ambiens, flexor
cruris lateralis (in part), flexor cruris medialis (in part),
gastrocnemius pars externa and pars interna, and peroneus longus.
× 1.
Fig. 16. Tympanuchus pallidicinctus 2L. Lateral view of the muscles of the 401
left leg. The following muscles, in addition to those listed for Fig.
14, have been removed: ambiens, vastus lateralis pars lateralis,
vastus medialis (except for part of patellar tendon), extensor
iliofibularis, flexor cruris lateralis (in part), flexor perforans et
perforatus digiti II, and flexor perforans et perforatus digiti III. × 1.
Fig. 17. Tympanuchus pallidicinctus 2L. Lateral view of the muscles of the 402
left leg. The following muscles, in addition to those listed for Fig.
16, have been removed: vastus lateralis pars postica, gluteus
profundus, flexor cruris medialis (in part), caudofemoralis, flexor
perforatus digiti IV, and tibialis anticus. × 1.
Fig. 18. Tympanuchus pallidicinctus 2L. Lateral view of the muscles of the 403
left leg. The following muscles, in addition to those listed for Fig.
17, have been removed: patellar tendon, iliacus, iliotrochantericus
medius, flexor cruris lateralis, flexor cruris medialis, flexor
ischiofemoralis, adductor superficialis, femorocruralis,
gastrocnemius pars media, flexor perforatus digiti III, flexor
perforatus digiti II, flexor hallucis longus, plantaris, flexor digitorum
longus, popliteus, and extensor digitorum longus. × 1.
Fig. 19. Tympanuchus pallidicinctus 2L. A. Posterior view of the muscles of 404
the left shank. The following shank muscles, in addition to those
listed for Fig. 17, have been removed: gastrocnemius pars media,
flexor perforatus digiti III, and flexor perforatus digiti II. × 1. B.
Posterior view of the proximal end of the shank, showing the most
deeply situated muscle. × 1. C. Lateral view of the head of the left
femur and the middle part of the pelvis, showing the deepest part
of M. obturator. × 1. D. Medial view of the posteroventral part of
the left side of the pelvis, showing the intrapelvic part of M.
obturator. × 1. E. Anterior view of the left tarsometatarsus,
 showing the dorsal intrinsic muscles of the foot. × 1½. F. Posterior
view of the left tarsometatarsus, showing the ventral intrinsic
muscles of the foot. × 1½.
Fig. 20. A-D. Dorsal views of M. iliotrochantericus medius, showing its 406
relationship to femoral notch. × 1. In D, note absence of femoral
notch and location of branch of femoral nerve. A. Tympanuchus
pallidicinctus 2L. B. T. cupido pinnatus 4L. C. Pedioecetes
phasianellus jamesi 1L. D. T. pallidicinctus 3L.
E. Medial view of distal end of M. flexor cruris medialis of P. p.
jamesi 4L. × 1. Part of insertion is covered by medial collateral
ligament.
F,G. Lateral views of posteroproximal corner of M. extensor
iliotibialis lateralis (removed from specimen). × 1. F. T.
pallidicinctus 2L. G. P. p. jamesi 3L.
H,I. Dorsolateral views of M. piriformis. × 1. H. P. p. jamesi 1L. I. T.
cupido attwateri 1L.
J. Lateral view of M. caudofemoralis pars caudifemoralis (removed
from specimen) of T. c. pinnatus 4L. × 1. K. Lateral view of
extrapelvic part of M. obturator of T. pallidicinctus 3L (bones not
shown). × 2.
L,M. Region surrounding obturator foramen of T. pallidicinctus 3L,
showing points of attachment of three parts of M. obturator
(muscles removed). × 3. L. Lateral view. M. Medial view.
N. Anterior view of left tarsometatarsus of P. p. jamesi 4L, showing
dorsal intrinsic muscles of foot. × 1½. Tendon of M. extensor
digitorum longus has been removed.
 INTRODUCTION
The purposes of this study were: (1) to obtain information on
individual variation in the anatomy of the muscles and nerves of the
leg of Tympanuchus cupido pinnatus (Greater Prairie Chicken), T. c.
attwateri (Attwater's Prairie Chicken), T. pallidicinctus (Lesser Prairie
Chicken), and Pedioecetes phasianellus jamesi (Sharp-tailed
Grouse); (2) to determine whether or not the two species of the
genus Tympanuchus differ constantly in the myology of the leg; and
(3) to determine what constant differences in the myology of the leg
exist between the two closely related genera Tympanuchus and
Pedioecetes.
These particular birds were chosen because they are closely related,
and closely resemble one another in habitats occupied and in
patterns of behavior. It was desired to study examples that showed
as few adaptive differences as possible among the grouse. Series of
each of the three species of grouse were readily obtainable, making
it possible to draw comparisons at the level of individuals,
subspecies, species, and genera.
The study here reported on was begun in the spring of 1957 and
was completed in the autumn of 1961.
Prior work on the muscles of the leg of birds has been reviewed by
Hudson (1937) and Hudson, et al. (1959). Only papers dealing with
the innervation of the leg in birds are reviewed below.

DeMan (1873) treated the nerves of Paradisea papuana, Corvus

monedula, and the chicken; he also commented briefly on a few
other species. Jhering (Ihering, 1873) briefly described the
lumbosacral plexus in approximately a dozen birds, but
illustrated only two. Gadow (1880) described the nerves in
Struthio, Rhea, and Casuarius; his paper contains some