The history of the challenge of friction modeling is briefly reviewed. Then, this paper focuses on the modeling and simulation study of the friction related dynamics in the SIMULINK ® environment, because MATLAB ® /SIMULINK ® are popular engineering software tools for both industry and academia. MATLAB ® and SIMULINK ® are the proprietary products of MathWorks, Inc. (Natick, MA). In this paper, the static friction models are studied through SIMULINK ® by applying fixed and variable step sizes. The comparison shows that the static Karnopp model is not only numerically tractable but also can be inclusive of the fundamental friction characteristics of both stick-slip and correct friction predictions. Finally, this paper presents an improved Karnopp model for clutch modeling with the use of SIMULINK ® , and the simulation shows that this model is computationally tractable with smooth dynamics.