State Transition Block Diagram of the Generalized Maxwell Slip Friction Model

Abstract Dynamic friction models (DFMs) encode nonlinear information for the simulation and control of systems with friction. Traditionally, DFMs have been published as block diagrams, promoting clarity and reproducibility in simulation. However, modern DFMs have grown increasingly complex and block diagrams are now rarely presented, limiting accessibility. This letter presents a simulation-ready block diagram of the Generalized Maxwell Slip (GMS) friction model, an advanced multi-state DFM capable of simulating a wide range of nonlinear friction phenomena. The state transition logic is implemented using a Stateflow chart within MATLAB-Simulink, which enhances code understandability; the same logic can also be expressed using generic if-else statements which are platform agnostic. Closed-loop and open-loop simulations verified that the block diagram faithfully reproduces non-drifting behavior and spatially distributed stick-slip friction, including benchmarking against the LuGre model. This work improves access to the GMS friction model, thereby providing the engineering community with a practical tool for the simulation and control of systems with friction.