diff --git a/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index 3de8da3182..e19dd1a443 100644
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -13,8 +13,8 @@
 #include <type_traits>
 
 #include "Eigen/Core"
-#include "Eigen/Eigenvalues"
 #include "Eigen/QR"
+#include "Eigen/src/Eigenvalues/EigenSolver.h"
 #include "frc/geometry/Pose2d.h"
 
 namespace frc {
diff --git a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
index 7d88e77ddd..134ed97791 100644
--- a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
@@ -11,6 +11,7 @@
 #include <functional>
 
 #include "Eigen/Core"
+#include "Eigen/QR"
 #include "frc/system/NumericalJacobian.h"
 #include "units/time.h"
 
diff --git a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
index 9f0d7f2061..4bdfff13bc 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
@@ -11,6 +11,7 @@
 #include <functional>
 
 #include "Eigen/Core"
+#include "Eigen/QR"
 #include "frc/system/Discretization.h"
 #include "frc/system/LinearSystem.h"
 #include "units/time.h"
diff --git a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
index 31f60bd3f1..f448957803 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
@@ -10,7 +10,7 @@
 #include <array>
 
 #include "Eigen/Core"
-#include "Eigen/QR"
+#include "Eigen/src/Cholesky/LLT.h"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/system/Discretization.h"
diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
index a9137760a5..8d60ba8271 100644
--- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
@@ -10,8 +10,8 @@
 #include <array>
 #include <functional>
 
-#include "Eigen/Cholesky"
 #include "Eigen/Core"
+#include "Eigen/src/Cholesky/LDLT.h"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/system/Discretization.h"
diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
index dc522e60d7..1d97c91b36 100644
--- a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
@@ -11,6 +11,7 @@
 #include <cmath>
 
 #include "Eigen/Core"
+#include "Eigen/src/Cholesky/LDLT.h"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/system/Discretization.h"
diff --git a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
index 62ef9bac5e..72abb80b1a 100644
--- a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
+++ b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
@@ -9,8 +9,8 @@
 
 #include <cmath>
 
-#include "Eigen/Cholesky"
 #include "Eigen/Core"
+#include "Eigen/src/Cholesky/LLT.h"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
index e69ae9196d..f07d480115 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
@@ -10,8 +10,8 @@
 #include <array>
 #include <functional>
 
-#include "Eigen/Cholesky"
 #include "Eigen/Core"
+#include "Eigen/src/Cholesky/LDLT.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/estimator/MerweScaledSigmaPoints.h"
 #include "frc/estimator/UnscentedTransform.h"
diff --git a/wpimath/src/main/native/include/frc/system/Discretization.h b/wpimath/src/main/native/include/frc/system/Discretization.h
index 8910dd2a46..72d022619b 100644
--- a/wpimath/src/main/native/include/frc/system/Discretization.h
+++ b/wpimath/src/main/native/include/frc/system/Discretization.h
@@ -8,8 +8,9 @@
 #pragma once
 
 #include "Eigen/Core"
+#include "Eigen/src/LU/PartialPivLU.h"
 #include "units/time.h"
-#include "unsupported/Eigen/MatrixFunctions"
+#include "unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp b/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
index ef6b44dc30..dbeb518ea2 100644
--- a/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
+++ b/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
@@ -10,6 +10,7 @@
 #include <functional>
 
 #include "Eigen/Core"
+#include "Eigen/Eigenvalues"
 #include "frc/system/Discretization.h"
 #include "frc/system/RungeKutta.h"