The Integrated Stribeck Friction Model (ISFM) is introduced and compared to the Dahl and LuGre friction models. The Dahl model achieves correct steady-state Coulomb friction but exhibits excess creep in its transient response. The LuGre model can represent an arbitrary Stribeck friction curve, yet also exhibits excess creep in its transient response and displays nonpassive behavior during velocity reversals. The ISFM represents an arbitrary Stribeck curve with a more realistic friction force and creep rate formulation. As a result, it achieves correct steady-state friction, and a realistic transient creep response while remaining passive under all conditions. A basic four-parameter representation of a Stribeck curve is provided for use with the ISFM, which is competitive with the representation typically used with the LuGre model. Unlike the Dahl and LuGre models, the ISFM is designed for compatibility with scenarios where the friction surfaces might lose contact with each other. A literature review indicates it is the simplest existing stateful friction model that remains well defined when contact loads are zero.
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