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From observations and practical experiences in Tanzania, Ethiopia and Rwanda I wish to conclude: 1) Pennisetum purpureum is the highest yielding forage / feed -crop with DM-yields of up to 60 t/ha/year. 2) Each country in the tropical belt has probably some optimal varieties and respective expertise. 3) In the Crop-Livestock-Forest-System and context its high potential for soil-erosion-control, for mulching (thus weed-suppression, soil-temperature-reduction, water-saving, etc.) and for biosphere-enhancement should not be under-estimated. 4) In Rwanda P.p. has helped to cut back heavy animal-induced deforestation by allowing feed forage for animals in stables and meadows. 5) Only if cut repeatedly at rather young stages, the height yields can be achieved with a rather protein-rich quality. Still I would suggest to add-up/ synergize / combine any P.p. strategy with a leguminous protein-rich forage plant.
You should give preference to native grasses and/or pasture grasses that are not invasive. Invasiveness may not become apparent for many years after introduction.
Some recommended pastures contain grass mixtures for best animal nutrition and local adaptation.
Apart from the location, is also depend on the livestock you wish to raise and for what product(s).
In Central and South Spain, we use natural pastures-grass and crops composed by a combination of Avena sativa + Vicia sativa, to be directly eaten by ruminants.