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 2e7d4b94f2..bff21492ef 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
@@ -135,14 +135,14 @@ public final class LinearSystemId {
    * <p>u = K_v v + K_a a
    *
    * @param kV The velocity gain, in volts/(unit/sec)
-   * @param kA The acceleration gain, in volts/(unit/sec^2)
+   * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
+   * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
    * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA) {
-    if (kV <= 0.0) {
-      throw new IllegalArgumentException("Kv must be greater than zero.");
+    if (kV < 0.0) {
+      throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
     }
     if (kA <= 0.0) {
       throw new IllegalArgumentException("Ka must be greater than zero.");
@@ -256,14 +256,14 @@ public final class LinearSystemId {
    * <p>u = K_v v + K_a a
    *
    * @param kV The velocity gain, in volts/(unit/sec)
-   * @param kA The acceleration gain, in volts/(unit/sec^2)
+   * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
+   * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
    * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
     if (kV <= 0.0) {
-      throw new IllegalArgumentException("Kv must be greater than zero.");
+      throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
     }
     if (kA <= 0.0) {
       throw new IllegalArgumentException("Ka must be greater than zero.");
@@ -291,12 +291,12 @@ public final class LinearSystemId {
    * @param kV The velocity gain, in volts/(unit/sec)
    * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
+   * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
    * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
     if (kV <= 0.0) {
-      throw new IllegalArgumentException("Kv must be greater than zero.");
+      throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
     }
     if (kA <= 0.0) {
       throw new IllegalArgumentException("Ka must be greater than zero.");
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 ad5d3b0e28..2b1508c063 100644
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    *
    * @param kV The velocity gain, in volts/(unit/sec).
    * @param kA The acceleration gain, in volts/(unit/sec²).
-   * @throws std::domain_error if kV <= 0 or kA <= 0.
+   * @throws std::domain_error if kV < 0 or kA <= 0.
    * @see <a
    * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
@@ -89,8 +89,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
   static LinearSystem<1, 1, 1> IdentifyVelocitySystem(
       decltype(1_V / Velocity_t<Distance>(1)) kV,
       decltype(1_V / Acceleration_t<Distance>(1)) kA) {
-    if (kV <= decltype(kV){0}) {
-      throw std::domain_error("Kv must be greater than zero.");
+    if (kV < decltype(kV){0}) {
+      throw std::domain_error("Kv must be greater than or equal to zero.");
     }
     if (kA <= decltype(kA){0}) {
       throw std::domain_error("Ka must be greater than zero.");
@@ -122,7 +122,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @param kV The velocity gain, in volts/(unit/sec).
    * @param kA The acceleration gain, in volts/(unit/sec²).
    *
-   * @throws std::domain_error if kV <= 0 or kA <= 0.
+   * @throws std::domain_error if kV < 0 or kA <= 0.
    * @see <a
    * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
@@ -132,8 +132,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
   static LinearSystem<2, 1, 1> IdentifyPositionSystem(
       decltype(1_V / Velocity_t<Distance>(1)) kV,
       decltype(1_V / Acceleration_t<Distance>(1)) kA) {
-    if (kV <= decltype(kV){0}) {
-      throw std::domain_error("Kv must be greater than zero.");
+    if (kV < decltype(kV){0}) {
+      throw std::domain_error("Kv must be greater than or equal to zero.");
     }
     if (kA <= decltype(kA){0}) {
       throw std::domain_error("Ka must be greater than zero.");
@@ -251,7 +251,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @param kV The velocity gain, in volts/(unit/sec).
    * @param kA The acceleration gain, in volts/(unit/sec²).
    *
-   * @throws std::domain_error if kV <= 0 or kA <= 0.
+   * @throws std::domain_error if kV < 0 or kA <= 0.
    */
   template <typename Distance>
     requires std::same_as<units::meter, Distance> ||
@@ -259,8 +259,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
   static LinearSystem<2, 1, 2> DCMotorSystem(
       decltype(1_V / Velocity_t<Distance>(1)) kV,
       decltype(1_V / Acceleration_t<Distance>(1)) kA) {
-    if (kV <= decltype(kV){0}) {
-      throw std::domain_error("Kv must be greater than zero.");
+    if (kV < decltype(kV){0}) {
+      throw std::domain_error("Kv must be greater than or equal to zero.");
     }
     if (kA <= decltype(kA){0}) {
       throw std::domain_error("Ka must be greater than zero.");