LuGre Friction Model in Simulink

Version 1.2 (36.7 KB) by Kirk Roffi
A block diagram for simulating the LuGre friction model.
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Updated 30 Aug 2025

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A block diagram for simulating the Lund-Grenoble (LuGre) friction model for a one-dimensional mass-spring slider [1]. The parameters within the 'Bristle Deflection' subsystem are configured according to Table 1 of the original paper [1]. The parameters of the 'Mass-spring' subsystem are configured according to section 4D of the original paper to demonstrate stick-slip behavior [1]. The scope is configured to recreate Fig.6 of the original paper as illustrated below.
Feedback and suggestions appreciated,
-Kirk
Typical simulation results:
Original paper:
Reference:
[1]. Wit, C.C.d., et al., A new model for control of systems with friction.IEEE Transactions on Automatic Control, 1995. 40(3): p. 419-425.

Cite As

Kirk Roffi (2026). LuGre Friction Model in Simulink (https://www.mathworks.com/matlabcentral/fileexchange/159748-lugre-friction-model-in-simulink), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2025a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes
1.2

Updated Description section for clarity. To improve end-user experience, the block diagram was simplified such that external applied force comes exclusively from the mass-spring subsystem.

1.1.1

Updated the description. Revised the Bristle Deflection subsystem of the block diagram to multiply g(v) by the sigma0 parameter per equation (4) of the original paper from Canudas de Wit et al.

1.1.0

Updated figure descriptions
1.0.0