diff --git a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
index a4fec0028d..b44aee5626 100644
--- a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
@@ -88,7 +88,7 @@ class LinearSystemSim {
    */
   void SetInput(const Vectord<Inputs>& u) { m_u = ClampInput(u); }
 
-  /*
+  /**
    * Sets the system inputs.
    *
    * @param row   The row in the input matrix to set.
@@ -99,6 +99,21 @@ class LinearSystemSim {
     ClampInput(m_u);
   }
 
+  /**
+   * Returns the current input of the plant.
+   *
+   * @return The current input of the plant.
+   */
+  const Vectord<Inputs>& GetInput() const { return m_u; }
+
+  /**
+   * Returns an element of the current input of the plant.
+   *
+   * @param row The row to return.
+   * @return An element of the current input of the plant.
+   */
+  double GetInput(int row) const { return m_u(row); }
+
   /**
    * Sets the system state.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
index cc4db9cb2e..8207bb556f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
@@ -137,6 +137,26 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
           "Malformed input! Got " + u.length + " elements instead of " + m_u.getNumRows());
     }
     m_u = new Matrix<>(new SimpleMatrix(m_u.getNumRows(), 1, true, u));
+    m_u = clampInput(m_u);
+  }
+
+  /**
+   * Returns the current input of the plant.
+   *
+   * @return The current input of the plant.
+   */
+  public Matrix<Inputs, N1> getInput() {
+    return m_u;
+  }
+
+  /**
+   * Returns an element of the current input of the plant.
+   *
+   * @param row The row to return.
+   * @return An element of the current input of the plant.
+   */
+  public double getInput(int row) {
+    return m_u.get(row, 0);
   }
 
   /**