diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
index 332e690522..8377022af3 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -122,6 +122,39 @@ public final class LinearSystemId {
         new Matrix<>(Nat.N2(), Nat.N1()));
   }
 
+  /**
+   * Create a state-space model of a DC motor system. The states of the system are [angular
+   * position, angular velocity], inputs are [voltage], and outputs are [angular position, angular
+   * velocity].
+   *
+   * <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
+   * {@link edu.wpi.first.math.util.Units} class for converting between unit types.
+   *
+   * <p>The parameters provided by the user are from this feedforward model:
+   *
+   * <p>u = K_v v + K_a a
+   *
+   * @param kV The velocity gain, in volts/(unit/sec)
+   * @param kA The acceleration gain, in volts/(unit/sec^2)
+   * @return A LinearSystem representing the given characterized constants.
+   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
+   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   */
+  public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA) {
+    if (kV <= 0.0) {
+      throw new IllegalArgumentException("Kv must be greater than zero.");
+    }
+    if (kA <= 0.0) {
+      throw new IllegalArgumentException("Ka must be greater than zero.");
+    }
+
+    return new LinearSystem<>(
+        Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -kV / kA),
+        VecBuilder.fill(0, 1 / kA),
+        Matrix.eye(Nat.N2()),
+        new Matrix<>(Nat.N2(), Nat.N1()));
+  }
+
   /**
    * Create a state-space model of a differential drive drivetrain. In this model, the states are
    * [left velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and outputs are
diff --git a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
index dda0ceed33..64f34963a9 100644
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -218,6 +218,48 @@ class WPILIB_DLLEXPORT LinearSystemId {
   static LinearSystem<2, 1, 2> DCMotorSystem(DCMotor motor,
                                              units::kilogram_square_meter_t J,
                                              double G);
+
+  /**
+   * Create a state-space model of a DC motor system from its kV
+   * (volts/(unit/sec)) and kA (volts/(unit/sec²)). These constants can be
+   * found using SysId. the states of the system are [position, velocity],
+   * inputs are [voltage], and outputs are [position].
+   *
+   * You MUST use an SI unit (i.e. meters or radians) for the Distance template
+   * argument. You may still use non-SI units (such as feet or inches) for the
+   * actual method arguments; they will automatically be converted to SI
+   * internally.
+   *
+   * The parameters provided by the user are from this feedforward model:
+   *
+   * u = K_v v + K_a a
+   *
+   * @param kV The velocity gain, in volts/(unit/sec).
+   * @param kA The acceleration gain, in volts/(unit/sec²).
+   *
+   * @throws std::domain_error if kV <= 0 or kA <= 0.
+   */
+  template <typename Distance>
+    requires std::same_as<units::meter, Distance> ||
+             std::same_as<units::radian, Distance>
+  static LinearSystem<2, 1, 2> DCMotorSystem(
+      decltype(1_V / Velocity_t<Distance>(1)) kV,
+      decltype(1_V / Acceleration_t<Distance>(1)) kA) {
+    if (kV <= decltype(kV){0}) {
+      throw std::domain_error("Kv must be greater than zero.");
+    }
+    if (kA <= decltype(kA){0}) {
+      throw std::domain_error("Ka must be greater than zero.");
+    }
+
+    Matrixd<2, 2> A{{0.0, 1.0}, {0.0, -kV.value() / kA.value()}};
+    Matrixd<2, 1> B{0.0, 1.0 / kA.value()};
+    Matrixd<2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
+    Matrixd<2, 1> D{{0.0}, {0.0}};
+
+    return LinearSystem<2, 1, 2>(A, B, C, D);
+  }
+
   /**
    * Create a state-space model of differential drive drivetrain. In this model,
    * the states are [left velocity, right velocity], the inputs are [left