diff --git a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
index a04184523d..62518b29f4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
@@ -90,7 +90,7 @@ public final class StateSpaceUtil {
    * Returns true if (A, B) is a stabilizable pair.
    *
    * <p>(A, B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have
-   * absolute values less than one, where an eigenvalue is uncontrollable if rank(λI - A, B) %3C n
+   * absolute values less than one, where an eigenvalue is uncontrollable if rank([λI - A, B]) %3C n
    * where n is the number of states.
    *
    * @param <States> Num representing the size of A.
@@ -108,7 +108,7 @@ public final class StateSpaceUtil {
    * Returns true if (A, C) is a detectable pair.
    *
    * <p>(A, C) is detectable if and only if the unobservable eigenvalues of A, if any, have absolute
-   * values less than one, where an eigenvalue is unobservable if rank(λI - A; C) %3C n where n is
+   * values less than one, where an eigenvalue is unobservable if rank([λI - A; C]) %3C n where n is
    * the number of states.
    *
    * @param <States> Num representing the size of A.
diff --git a/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index a2462823e5..ff1e984984 100644
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -243,7 +243,7 @@ Vectord<4> PoseTo4dVector(const Pose2d& pose);
  *
  * (A, B) is stabilizable if and only if the uncontrollable eigenvalues of A, if
  * any, have absolute values less than one, where an eigenvalue is
- * uncontrollable if rank(λI - A, B) < n where n is the number of states.
+ * uncontrollable if rank([λI - A, B]) < n where n is the number of states.
  *
  * @tparam States The number of states.
  * @tparam Inputs The number of inputs.
@@ -261,7 +261,7 @@ bool IsStabilizable(const Matrixd<States, States>& A,
  *
  * (A, C) is detectable if and only if the unobservable eigenvalues of A, if
  * any, have absolute values less than one, where an eigenvalue is unobservable
- * if rank(λI - A; C) < n where n is the number of states.
+ * if rank([λI - A; C]) < n where n is the number of states.
  *
  * @tparam States The number of states.
  * @tparam Outputs The number of outputs.