Ann Arbor, MI (SportsNetwork.com) - The University of Michigan fired head football coach Brady Hoke on Tuesday after four seasons, saying he had enough time to produce positive results that never came.

Hoke posted a 31-20 record at Michigan, but never improved on an 11-2 mark and Sugar Bowl title in his first season with the Wolverines.

They went 5-7 overall this season, including 3-5 in the Big Ten, marking the program's first losing season since going 5-7 in 2009 under Rich Rodriguez.

Hoke was hired as the 19th head coach at Michigan on Jan. 11, 2011, after Rodriguez was fired following a 15-22 record in three seasons at the helm.

Hoke, an assistant at Michigan from 1995-2002, was the second Wolverines head coach after Hall of Famer Fielding Yost to win 10 games in his first season.

Diminishing returns in each season since then led to the 56-year-old's firing, athletic director Jim Hackett said.

"This was not an easy decision given the level of respect that I have for Brady," Hackett said.

He added: "I wanted to make sure that Brady received adequate time to exhibit the results that would come from his effort and I believe that Brady and our coaching staff had enough time to produce those results and unfortunately they are not there."

Hoke coached San Diego State for two season before coming to Michigan, going 13-12 overall.

Prior to his stint with the Aztecs, he coached at Ball State, his alma mater, for six seasons. In 2008, the team went 12-1 with an 8-0 record in the Mid- American Conference.

Hoke was 34-38 at Ball State with a 27-20 mark in the MAC.