diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
index 385c5c0342..a2a59448c4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
@@ -181,6 +181,9 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> r, Matrix<States, N1> nextR) {
     var rDot = (nextR.minus(r)).div(m_dt);
 
+    // ṙ = f(r) + Bu
+    // Bu = ṙ − f(r)
+    // u = B⁺(ṙ − f(r))
     m_uff = m_B.solve(rDot.minus(m_f.apply(r, new Matrix<>(m_inputs, Nat.N1()))));
 
     m_r = nextR;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
index a7628512af..b0f23a8dcc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
@@ -139,6 +139,9 @@ public class LinearPlantInversionFeedforward<
    * @return The calculated feedforward.
    */
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> r, Matrix<States, N1> nextR) {
+    // rₖ₊₁ = Arₖ + Buₖ
+    // Buₖ = rₖ₊₁ − Arₖ
+    // uₖ = B⁺(rₖ₊₁ − Arₖ)
     m_uff = new Matrix<>(m_B.solve(nextR.minus(m_A.times(r))));
 
     m_r = nextR;
diff --git a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
index ee21a24023..6306457655 100644
--- a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
@@ -166,6 +166,9 @@ class ControlAffinePlantInversionFeedforward {
   InputVector Calculate(const StateVector& r, const StateVector& nextR) {
     StateVector rDot = (nextR - r) / m_dt.value();
 
+    // ṙ = f(r) + Bu
+    // Bu = ṙ − f(r)
+    // u = B⁺(ṙ − f(r))
     m_uff = m_B.householderQr().solve(rDot - m_f(r, InputVector::Zero()));
 
     m_r = nextR;
diff --git a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
index e1f6b1be39..1d905e24ab 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
@@ -138,6 +138,9 @@ class LinearPlantInversionFeedforward {
    * @return The calculated feedforward.
    */
   InputVector Calculate(const StateVector& r, const StateVector& nextR) {
+    // rₖ₊₁ = Arₖ + Buₖ
+    // Buₖ = rₖ₊₁ − Arₖ
+    // uₖ = B⁺(rₖ₊₁ − Arₖ)
     m_uff = m_B.householderQr().solve(nextR - (m_A * r));
     m_r = nextR;
     return m_uff;