diff --git a/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp b/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
index c3a00eadd8..4d2fbe92fb 100644
--- a/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
+++ b/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
@@ -44,4 +44,23 @@ LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
     const Eigen::Matrix<double, 2, 1>& N, units::second_t dt)
     : detail::LinearQuadraticRegulatorImpl<2, 1>(A, B, Q, R, N, dt) {}
 
+LinearQuadraticRegulator<2, 2>::LinearQuadraticRegulator(
+    const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 2>& B,
+    const wpi::array<double, 2>& Qelems, const wpi::array<double, 2>& Relems,
+    units::second_t dt)
+    : LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
+                               MakeCostMatrix(Relems), dt) {}
+
+LinearQuadraticRegulator<2, 2>::LinearQuadraticRegulator(
+    const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 2>& B,
+    const Eigen::Matrix<double, 2, 2>& Q, const Eigen::Matrix<double, 2, 2>& R,
+    units::second_t dt)
+    : detail::LinearQuadraticRegulatorImpl<2, 2>(A, B, Q, R, dt) {}
+
+LinearQuadraticRegulator<2, 2>::LinearQuadraticRegulator(
+    const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 2>& B,
+    const Eigen::Matrix<double, 2, 2>& Q, const Eigen::Matrix<double, 2, 2>& R,
+    const Eigen::Matrix<double, 2, 2>& N, units::second_t dt)
+    : detail::LinearQuadraticRegulatorImpl<2, 2>(A, B, Q, R, N, dt) {}
+
 }  // namespace frc
diff --git a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
index 2101a3499d..8b6be757bc 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
@@ -388,4 +388,40 @@ class LinearQuadraticRegulator<2, 1>
   LinearQuadraticRegulator& operator=(LinearQuadraticRegulator&&) = default;
 };
 
+// Template specializations are used here to make common state-input pairs
+// compile faster.
+template <>
+class LinearQuadraticRegulator<2, 2>
+    : public detail::LinearQuadraticRegulatorImpl<2, 2> {
+ public:
+  template <int Outputs>
+  LinearQuadraticRegulator(const LinearSystem<2, 2, Outputs>& plant,
+                           const wpi::array<double, 2>& Qelems,
+                           const wpi::array<double, 2>& Relems,
+                           units::second_t dt)
+      : LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
+
+  LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
+                           const Eigen::Matrix<double, 2, 2>& B,
+                           const wpi::array<double, 2>& Qelems,
+                           const wpi::array<double, 2>& Relems,
+                           units::second_t dt);
+
+  LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
+                           const Eigen::Matrix<double, 2, 2>& B,
+                           const Eigen::Matrix<double, 2, 2>& Q,
+                           const Eigen::Matrix<double, 2, 2>& R,
+                           units::second_t dt);
+
+  LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
+                           const Eigen::Matrix<double, 2, 2>& B,
+                           const Eigen::Matrix<double, 2, 2>& Q,
+                           const Eigen::Matrix<double, 2, 2>& R,
+                           const Eigen::Matrix<double, 2, 2>& N,
+                           units::second_t dt);
+
+  LinearQuadraticRegulator(LinearQuadraticRegulator&&) = default;
+  LinearQuadraticRegulator& operator=(LinearQuadraticRegulator&&) = default;
+};
+
 }  // namespace frc