diff --git a/wpilibc/shared/include/Filters/LinearDigitalFilter.h b/wpilibc/shared/include/Filters/LinearDigitalFilter.h
index 3ad0eba969..f00aefb9b0 100644
--- a/wpilibc/shared/include/Filters/LinearDigitalFilter.h
+++ b/wpilibc/shared/include/Filters/LinearDigitalFilter.h
@@ -19,8 +19,8 @@
  * used types of filters.
  *
  * Filters are of the form:
- *  y[n] = (b0*x[n] + b1*x[n-1] + ... + bP*x[n-P) - (a0*y[n-1] + a2*y[n-2] + ...
- * + aQ*y[n-Q])
+ *  y[n] = (b0*x[n] + b1*x[n-1] + ... + bP*x[n-P]) - (a0*y[n-1] + a2*y[n-2] +
+ * ... + aQ*y[n-Q])
  *
  * Where:
  *  y[n] is the output at time "n"
diff --git a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
index c5f93fefdb..3ef2781db8 100644
--- a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
+++ b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.PIDSource;
  * This class implements a linear, digital filter. All types of FIR and IIR filters are supported.
  * Static factory methods are provided to create commonly used types of filters.
  *
- * <p>Filters are of the form: y[n] = (b0*x[n] + b1*x[n-1] + ... + bP*x[n-P) - (a0*y[n-1] +
+ * <p>Filters are of the form: y[n] = (b0*x[n] + b1*x[n-1] + ... + bP*x[n-P]) - (a0*y[n-1] +
  * a2*y[n-2] + ... + aQ*y[n-Q])
  *
  * <p>Where: y[n] is the output at time "n" x[n] is the input at time "n" y[n-1] is the output from