diff --git a/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp b/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp
new file mode 100644
index 0000000000..16979d911e
--- /dev/null
+++ b/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp
@@ -0,0 +1,14 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/system/LinearSystemLoop.h"
+
+namespace frc {
+
+template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
+    LinearSystemLoop<1, 1, 1>;
+template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
+    LinearSystemLoop<2, 1, 1>;
+
+}  // namespace frc
diff --git a/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h b/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h
index dd95cf5d1b..1300a82a02 100644
--- a/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h
+++ b/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/EigenCore.h"
 #include "frc/controller/LinearPlantInversionFeedforward.h"
 #include "frc/controller/LinearQuadraticRegulator.h"
@@ -210,7 +212,7 @@ class LinearSystemLoop {
    * Return the observer used internally.
    */
   const KalmanFilter<States, Inputs, Outputs>& Observer() const {
-    return m_observer;
+    return *m_observer;
   }
 
   /**
@@ -282,4 +284,9 @@ class LinearSystemLoop {
   static constexpr int kOutputs = Outputs;
 };
 
+extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
+    LinearSystemLoop<1, 1, 1>;
+extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
+    LinearSystemLoop<2, 1, 1>;
+
 }  // namespace frc