add friction model "Hofer" #1624

Job	Run time
Linting	15s
Sphinx docs check	31s
Tutorial tests (3.9, ubuntu-latest)	1m 27s
Tests (3.9, ubuntu-latest)	42s
Tutorial tests (3.9, windows-latest)	2m 18s
Tests (3.9, windows-latest)	1m 17s
Tutorial tests (3.10, ubuntu-latest)	1m 13s
Tests (3.10, ubuntu-latest)	45s
Tutorial tests (3.10, windows-latest)	2m 0s
Tests (3.10, windows-latest)	1m 12s
Tutorial tests (3.11, ubuntu-latest)	1m 31s
Tests (3.11, ubuntu-latest)	1m 0s
Tutorial tests (3.11, windows-latest)	2m 39s
Tests (3.11, windows-latest)	1m 43s
Tutorial tests (3.12, ubuntu-latest)	1m 11s
Tests (3.12, ubuntu-latest)	36s
Tutorial tests (3.12, windows-latest)	2m 20s
Tests (3.12, windows-latest)	1m 11s
	23m 51s

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