A new elasto-plastic state variable friction model is proposed which models both stiction and presliding displacement. However, the proposed Leuven model by Swevers et al. is more complex than the standard parameterization of the LuGre model due to the use of an hybrid hysteresis model and therefore more difficult to be used for control design and analysis. On the other hand, the elasto-plastic state variable friction model proposed by Dupont et al. is mainly based on simulation studies and the presented ideas are not yet confirmed experimentally. Hence, the standard parameterization of the LuGre model is still most wildly used nowadays.