diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
index 632c1cee0b..332e690522 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -283,8 +283,8 @@ public final class LinearSystemId {
    *
    * @param kVLinear The linear velocity gain in volts per (meters per second).
    * @param kALinear The linear acceleration gain in volts per (meters per second squared).
-   * @param kVAngular The angular velocity gain in volts per (radians per second).
-   * @param kAAngular The angular acceleration gain in volts per (radians per second squared).
+   * @param kVAngular The angular velocity gain in volts per (meters per second).
+   * @param kAAngular The angular acceleration gain in volts per (meters per second squared).
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, or
    *     kAAngular <= 0.
diff --git a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
index d33f40bcfe..3e69545272 100644
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -151,9 +151,9 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @param kVLinear  The linear velocity gain in volts per (meters per second).
    * @param kALinear  The linear acceleration gain in volts per (meters per
    *                  second squared).
-   * @param kVAngular The angular velocity gain in volts per (radians per
-   * second).
-   * @param kAAngular The angular acceleration gain in volts per (radians per
+   * @param kVAngular The angular velocity gain in volts per (meters per
+   *                  second).
+   * @param kAAngular The angular acceleration gain in volts per (meters per
    *                  second squared).
    * @throws domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0,
    *         or kAAngular <= 0.