diff --git a/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h b/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
index b1388bd99a..9a90cf7ff9 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
@@ -21,7 +21,9 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
   /**
    * Creates a simulated DC motor mechanism.
    *
-   * @param plant              The linear system representing the DC motor.
+   * @param plant              The linear system representing the DC motor. This
+   *                           system can be created with
+   *                           LinearSystemId::DCMotorSystem().
    * @param gearbox            The type of and number of motors in the DC motor
    * gearbox.
    * @param gearing            The gearing of the DC motor (numbers greater than
diff --git a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index c1cc1d7c59..812943a2c9 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -19,7 +19,7 @@ namespace frc::sim {
 class DifferentialDrivetrainSim {
  public:
   /**
-   * Create a SimDrivetrain.
+   * Creates a simulated differential drivetrain.
    *
    * @param plant The LinearSystem representing the robot's drivetrain. This
    *              system can be created with
@@ -46,7 +46,7 @@ class DifferentialDrivetrainSim {
       const std::array<double, 7>& measurementStdDevs = {});
 
   /**
-   * Create a SimDrivetrain.
+   * Creates a simulated differential drivetrain.
    *
    * @param driveMotor  A DCMotor representing the left side of the drivetrain.
    * @param gearing     The gearing on the drive between motor and wheel, as
diff --git a/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h b/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
index 5bc3083e98..a21e69346a 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
@@ -23,6 +23,8 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
    * Constructs a simulated elevator mechanism.
    *
    * @param plant              The linear system that represents the elevator.
+   *                           This system can be created with
+   *                           LinearSystemId::ElevatorSystem().
    * @param gearbox            The type of and number of motors in your
    *                           elevator gearbox.
    * @param gearing            The gearing of the elevator (numbers greater
diff --git a/wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h b/wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h
index 9f2272c661..a9a8101fe3 100644
--- a/wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h
@@ -20,7 +20,9 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
   /**
    * Creates a simulated flywheel mechanism.
    *
-   * @param plant              The linear system representing the flywheel.
+   * @param plant              The linear system representing the flywheel. This
+   *                           system can be created with
+   *                           LinearSystemId::FlywheelSystem().
    * @param gearbox            The type of and number of motors in the flywheel
    *                           gearbox.
    * @param gearing            The gearing of the flywheel (numbers greater than
diff --git a/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h b/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
index 06621aaeba..811c007cf8 100644
--- a/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
@@ -23,7 +23,9 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
   /**
    * Creates a simulated arm mechanism.
    *
-   * @param system             The system representing this arm.
+   * @param system             The system representing this arm. This system can
+   *                           be created with
+   *                           LinearSystemId::SingleJointedArmSystem().
    * @param gearbox            The type and number of motors on the arm gearbox.
    * @param gearing            The gear ratio of the arm (numbers greater than 1
    *                           represent reductions).
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
index 48c5a55b73..57ae7939de 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -23,7 +23,9 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
   /**
    * Creates a simulated DC motor mechanism.
    *
-   * @param plant The linear system that represents the DC motor.
+   * @param plant The linear system representing the DC motor. This system can be created with
+   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
+   *     double)}.
    * @param gearbox The type of and number of motors in the DC motor gearbox.
    * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
    */
@@ -36,7 +38,7 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
   /**
    * Creates a simulated DC motor mechanism.
    *
-   * @param plant The linear system that represents the DC motor.
+   * @param plant The linear system representing the DC motor. This system can be created with
    * @param gearbox The type of and number of motors in the DC motor gearbox.
    * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
    * @param measurementStdDevs The standard deviations of the measurements.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index 7a746a232e..94db6f667d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -52,7 +52,7 @@ public class DifferentialDrivetrainSim {
   private final LinearSystem<N2, N2, N2> m_plant;
 
   /**
-   * Create a SimDrivetrain.
+   * Creates a simulated differential drivetrain.
    *
    * @param driveMotor A {@link DCMotor} representing the left side of the drivetrain.
    * @param gearing The gearing ratio between motor and wheel, as output over input. This must be
@@ -91,10 +91,10 @@ public class DifferentialDrivetrainSim {
   }
 
   /**
-   * Create a SimDrivetrain .
+   * Creates a simulated differential drivetrain.
    *
-   * @param drivetrainPlant The {@link LinearSystem} representing the robot's drivetrain. This
-   *     system can be created with {@link
+   * @param plant The {@link LinearSystem} representing the robot's drivetrain. This system can be
+   *     created with {@link
    *     edu.wpi.first.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor,
    *     double, double, double, double, double)} or {@link
    *     edu.wpi.first.math.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double,
@@ -112,13 +112,13 @@ public class DifferentialDrivetrainSim {
    *     point.
    */
   public DifferentialDrivetrainSim(
-      LinearSystem<N2, N2, N2> drivetrainPlant,
+      LinearSystem<N2, N2, N2> plant,
       DCMotor driveMotor,
       double gearing,
       double trackWidthMeters,
       double wheelRadiusMeters,
       Matrix<N7, N1> measurementStdDevs) {
-    this.m_plant = drivetrainPlant;
+    this.m_plant = plant;
     this.m_rb = trackWidthMeters / 2.0;
     this.m_motor = driveMotor;
     this.m_originalGearing = gearing;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
index f1ccdf2c01..28db3bfc36 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -37,7 +37,9 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
   /**
    * Creates a simulated elevator mechanism.
    *
-   * @param plant The linear system that represents the elevator.
+   * @param plant The linear system that represents the elevator. This system can be created with
+   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createElevatorSystem(DCMotor, double,
+   *     double, double)}.
    * @param gearbox The type of and number of motors in the elevator gearbox.
    * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
    * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
@@ -72,7 +74,9 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
   /**
    * Creates a simulated elevator mechanism.
    *
-   * @param plant The linear system that represents the elevator.
+   * @param plant The linear system that represents the elevator. This system can be created with
+   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createElevatorSystem(DCMotor, double,
+   *     double, double)}.
    * @param gearbox The type of and number of motors in the elevator gearbox.
    * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
    * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
index 90f911d246..9f1c76ee25 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
@@ -22,7 +22,9 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   /**
    * Creates a simulated flywheel mechanism.
    *
-   * @param plant The linear system that represents the flywheel.
+   * @param plant The linear system that represents the flywheel. This system can be created with
+   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createFlywheelSystem(DCMotor, double,
+   *     double)}.
    * @param gearbox The type of and number of motors in the flywheel gearbox.
    * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
index 72d1be4e62..30c39a5b5c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -36,7 +36,9 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   /**
    * Creates a simulated arm mechanism.
    *
-   * @param plant The linear system that represents the arm.
+   * @param plant The linear system that represents the arm. This system can be created with {@link
+   *     edu.wpi.first.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor,
+   *     double, double)}.
    * @param gearbox The type of and number of motors in the arm gearbox.
    * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
    * @param armLengthMeters The length of the arm.
@@ -70,7 +72,9 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   /**
    * Creates a simulated arm mechanism.
    *
-   * @param plant The linear system that represents the arm.
+   * @param plant The linear system that represents the arm. This system can be created with {@link
+   *     edu.wpi.first.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor,
+   *     double, double)}.
    * @param gearbox The type of and number of motors in the arm gearbox.
    * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
    * @param armLengthMeters The length of the arm.