diff --git a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index 959e2c970e..e64a652cdd 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -268,7 +268,7 @@ class DifferentialDrivetrainSim {
    * @param gearing   The gearing reduction used.
    * @param wheelSize The wheel size.
    * @param J         The moment of inertia of the drivebase. This can be
-   * calculated using frc-characterization.
+   * calculated using SysId.
    * @param measurementStdDevs Standard deviations for measurements, in the form
    * [x, y, heading, left velocity, right velocity, left distance, right
    * distance]ᵀ. Can be omitted if no noise is desired. Gyro standard
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 483dee85a5..b123eac917 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
@@ -109,7 +109,7 @@ public class DifferentialDrivetrainSim {
    * @param gearing The gearingRatio ratio of the robot, as output over input. This must be the same
    *     ratio as the ratio used to identify or create the drivetrainPlant.
    * @param trackWidthMeters The distance between the two sides of the drivetrian. Can be found with
-   *     frc-characterization.
+   *     SysId.
    * @param wheelRadiusMeters The radius of the wheels on the drivetrain, in meters.
    * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
    *     left velocity, right velocity, left distance, right distance]ᵀ. Can be null if no noise is
@@ -474,7 +474,7 @@ public class DifferentialDrivetrainSim {
    * @param gearing The gearing reduction used.
    * @param wheelSize The wheel size.
    * @param jKgMetersSquared The moment of inertia of the drivebase. This can be calculated using
-   *     frc-characterization.
+   *     SysId.
    * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
    *     left velocity, right velocity, left distance, right distance]ᵀ. Can be null if no noise is
    *     desired. Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05
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 41fd8ea621..e5b9bde567 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
@@ -133,8 +133,8 @@ public final class LinearSystemId {
 
   /**
    * Identify a velocity system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
-   * constants cam be found using frc-characterization. The states of the system are [velocity],
-   * inputs are [voltage], and outputs are [velocity].
+   * constants cam be found using SysId. The states of the system are [velocity], inputs are
+   * [voltage], and outputs are [velocity].
    *
    * <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
    * {@link edu.wpi.first.math.util.Units} class for converting between unit types.
@@ -142,8 +142,7 @@ public final class LinearSystemId {
    * @param kV The velocity gain, in volts per (units per second)
    * @param kA The acceleration gain, in volts per (units per second squared)
    * @return A LinearSystem representing the given characterized constants.
-   * @see <a href="https://github.com/wpilibsuite/frc-characterization">
-   *     https://github.com/wpilibsuite/frc-characterization</a>
+   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   @SuppressWarnings("ParameterName")
   public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
@@ -156,8 +155,8 @@ public final class LinearSystemId {
 
   /**
    * Identify a position system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
-   * constants cam be found using frc-characterization. The states of the system are [position,
-   * velocity]ᵀ, inputs are [voltage], and outputs are [position].
+   * constants cam be found using SysId. The states of the system are [position, velocity]ᵀ, inputs
+   * are [voltage], and outputs are [position].
    *
    * <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
    * {@link edu.wpi.first.math.util.Units} class for converting between unit types.
@@ -165,8 +164,7 @@ public final class LinearSystemId {
    * @param kV The velocity gain, in volts per (units per second)
    * @param kA The acceleration gain, in volts per (units per second squared)
    * @return A LinearSystem representing the given characterized constants.
-   * @see <a href="https://github.com/wpilibsuite/frc-characterization">
-   *     https://github.com/wpilibsuite/frc-characterization</a>
+   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   @SuppressWarnings("ParameterName")
   public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
@@ -180,17 +178,16 @@ public final class LinearSystemId {
   /**
    * Identify a standard differential drive drivetrain, given the drivetrain's kV and kA in both
    * linear (volts/(meter/sec) and volts/(meter/sec^2)) and angular (volts/(meter/sec) and
-   * volts/(meter/sec^2)) cases. This can be found using frc-characterization. The states of the
-   * system are [left velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and
-   * outputs are [left velocity, right velocity]ᵀ.
+   * volts/(meter/sec^2)) cases. This can be found using SysId. The states of the system are [left
+   * velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and outputs are [left
+   * velocity, right velocity]ᵀ.
    *
    * @param kVLinear The linear velocity gain, volts per (meter per second).
    * @param kALinear The linear acceleration gain, volts per (meter per second squared).
    * @param kVAngular The angular velocity gain, volts per (meter per second).
    * @param kAAngular The angular acceleration gain, volts per (meter per second squared).
    * @return A LinearSystem representing the given characterized constants.
-   * @see <a href="https://github.com/wpilibsuite/frc-characterization">
-   *     https://github.com/wpilibsuite/frc-characterization</a>
+   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   @SuppressWarnings("ParameterName")
   public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
@@ -210,9 +207,9 @@ public final class LinearSystemId {
   /**
    * Identify a standard differential drive drivetrain, given the drivetrain's kV and kA in both
    * linear (volts/(meter/sec) and volts/(meter/sec^2)) and angular (volts/(radian/sec) and
-   * volts/(radian/sec^2)) cases. This can be found using frc-characterization. The states of the
-   * system are [left velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and
-   * outputs are [left velocity, right velocity]ᵀ.
+   * volts/(radian/sec^2)) cases. This can be found using SysId. The states of the system are [left
+   * velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and outputs are [left
+   * velocity, right velocity]ᵀ.
    *
    * @param kVLinear The linear velocity gain, volts per (meter per second).
    * @param kALinear The linear acceleration gain, volts per (meter per second squared).
@@ -220,8 +217,7 @@ public final class LinearSystemId {
    * @param kAAngular The angular acceleration gain, volts per (radians per second squared).
    * @param trackwidth The width of the drivetrain in meters.
    * @return A LinearSystem representing the given characterized constants.
-   * @see <a href="https://github.com/wpilibsuite/frc-characterization">
-   *     https://github.com/wpilibsuite/frc-characterization</a>
+   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   @SuppressWarnings("ParameterName")
   public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(