add friction model "Hofer" #1609

Job	Run time
Tutorial tests (3.9, ubuntu-latest)	1m 25s
Sphinx docs check	33s
Tutorial tests (3.9, windows-latest)	2m 7s
Linting	18s
Tutorial tests (3.10, ubuntu-latest)	1m 20s
Tests (3.9, ubuntu-latest)	46s
Tutorial tests (3.10, windows-latest)	2m 21s
Tests (3.9, windows-latest)	1m 4s
Tutorial tests (3.11, ubuntu-latest)	1m 42s
Tests (3.10, ubuntu-latest)	38s
Tests (3.10, windows-latest)	1m 50s
Tutorial tests (3.11, windows-latest)	2m 54s
Tests (3.11, ubuntu-latest)	1m 4s
Tutorial tests (3.12, ubuntu-latest)	1m 22s
Tests (3.11, windows-latest)	1m 51s
Tutorial tests (3.12, windows-latest)	2m 25s
Tests (3.12, ubuntu-latest)	44s
Tests (3.12, windows-latest)	1m 27s
	25m 51s

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