Static muscle contractions when prolonged or frequently repeated result in discomfort, fatigue, and musculosketal injuries. An analytic and quantitative model has been developed in order to expand the working knowledge on muscle fatigue. In this paper, three Markov models of muscle fatigue are developed. These models are based on motor unit fatigue-recovery characteristics obtained from information on motor unit behavior as it relates to fatigue and graded exertions. Three successively more realistic models are developed that involve: (1) homogeneous motor units with intensity-dependent fatigue rates and state-independent recovery rates (the HMSI model); (2) homogeneous motor units, intensity-dependent fatigue rates and state-dependent recovery rates (the HMSD model); and (3) non-homogeneous motor units (i.e., Type S and Type F), intensity-dependent fatigue rates and state-dependent recovery rates (the HMSD model). The result indicate that a simple stochastic model provide a means to analyze the complex nature of muscle fatigue in sequential static exertions.