diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
index c01638ce10..d4beabdc36 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
@@ -73,7 +73,7 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
     m_r = new Matrix<>(states, Nat.N1());
     m_uff = new Matrix<>(inputs, Nat.N1());
 
-    reset(m_r);
+    reset();
   }
 
   /**
@@ -102,7 +102,7 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
     m_r = new Matrix<>(states, Nat.N1());
     m_uff = new Matrix<>(inputs, Nat.N1());
 
-    reset(m_r);
+    reset();
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
index 611f731948..0bf4f1fb32 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
@@ -64,7 +64,7 @@ public class LinearPlantInversionFeedforward<
     m_r = new Matrix<>(new SimpleMatrix(B.getNumRows(), 1));
     m_uff = new Matrix<>(new SimpleMatrix(B.getNumCols(), 1));
 
-    reset(m_r);
+    reset();
   }
 
   /**
diff --git a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
index 86c51ce056..50970284c1 100644
--- a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
@@ -57,8 +57,7 @@ class ControlAffinePlantInversionFeedforward {
         f, Eigen::Matrix<double, States, 1>::Zero(),
         Eigen::Matrix<double, Inputs, 1>::Zero());
 
-    m_r.setZero();
-    Reset(m_r);
+    Reset();
   }
 
   /**
@@ -80,8 +79,7 @@ class ControlAffinePlantInversionFeedforward {
               const Eigen::Matrix<double, Inputs, 1>& u)
         -> Eigen::Matrix<double, States, 1> { return f(x); };
 
-    m_r.setZero();
-    Reset(m_r);
+    Reset();
   }
 
   ControlAffinePlantInversionFeedforward(
diff --git a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
index 03ddb4d87b..be25a72738 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
@@ -51,9 +51,7 @@ class LinearPlantInversionFeedforward {
       const Eigen::Matrix<double, States, Inputs>& B, units::second_t dt)
       : m_dt(dt) {
     DiscretizeAB<States, Inputs>(A, B, dt, &m_A, &m_B);
-
-    m_r.setZero();
-    Reset(m_r);
+    Reset();
   }
 
   /**