diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
index 78e938fe8b..e9599479ed 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
@@ -28,9 +28,8 @@ import edu.wpi.first.math.trajectory.Trajectory;
  * that's the acronym for the title of the book it came from in Italian ("Robotica Articolata e
  * Mobile per i SErvizi e le TEcnologie").
  *
- * <p>See <a href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">Controls
- * Engineering in the FIRST Robotics Competition</a> section on Ramsete unicycle controller for a
- * derivation and analysis.
+ * <p>See <a href="https://file.tavsys.net/control/ramsete-unicycle-controller.pdf">this paper</a>
+ * for a derivation and analysis.
  */
 public class RamseteController {
   private final double m_b;
diff --git a/wpimath/src/main/native/include/frc/controller/RamseteController.h b/wpimath/src/main/native/include/frc/controller/RamseteController.h
index 1a31bc9ce1..0e6b437cc6 100644
--- a/wpimath/src/main/native/include/frc/controller/RamseteController.h
+++ b/wpimath/src/main/native/include/frc/controller/RamseteController.h
@@ -42,8 +42,8 @@ namespace frc {
  * acronym for the title of the book it came from in Italian ("Robotica
  * Articolata e Mobile per i SErvizi e le TEcnologie").
  *
- * See <https://file.tavsys.net/control/controls-engineering-in-frc.pdf> section
- * on Ramsete unicycle controller for a derivation and analysis.
+ * See <https://file.tavsys.net/control/ramsete-unicycle-controller.pdf> for a
+ * derivation and analysis.
  */
 class WPILIB_DLLEXPORT RamseteController {
  public: