State Transition Block Diagram of the Generalized Maxwell Slip Friction Model

Dynamic friction models (DFMs) encode essential information for the simulation and control of systems with friction. Traditionally, DFMs have been published with conceptual 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 block diagram representation of the Generalized Maxwell Slip (GMS) friction model, an advanced multi-state DFM capable of simulating a wide range of nonlinear friction phenomena. The diagram can be implemented in the MATLAB-Simulink environment using a Stateflow chart or embedded if-else logic to represent the state transition criteria, but it is not limited to this platform. Closed-loop and open-loop simulations were conducted to verify that the block diagram reproduces non-drifting behavior and stick-slip friction, including benchmarking against the LuGre model. The proposed diagram improves accessibility to advanced dynamic friction models and provides the engineering community with a practical tool for the simulation and control of systems with friction.