diff --git a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
index 5d7a316f3..dc08be95e 100644
--- a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
+++ b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
@@ -9,18 +9,19 @@
 namespace drake {
 namespace math {
 
-/// Computes the unique stabilizing solution X to the discrete-time algebraic
-/// Riccati equation:
-///
-/// AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0
-///
-/// @throws std::exception if Q is not positive semi-definite.
-/// @throws std::exception if R is not positive definite.
-///
-/// Based on the Schur Vector approach outlined in this paper:
-/// "On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
-/// by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
-///
+/**
+Computes the unique stabilizing solution X to the discrete-time algebraic
+Riccati equation:
+
+AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0
+
+@throws std::exception if Q is not positive semi-definite.
+@throws std::exception if R is not positive definite.
+
+Based on the Schur Vector approach outlined in this paper:
+"On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
+by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
+*/
 WPILIB_DLLEXPORT
 Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
     const Eigen::Ref<const Eigen::MatrixXd>& A,
@@ -28,49 +29,50 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
     const Eigen::Ref<const Eigen::MatrixXd>& Q,
     const Eigen::Ref<const Eigen::MatrixXd>& R);
 
-/// Computes the unique stabilizing solution X to the discrete-time algebraic
-/// Riccati equation:
-///
-/// AᵀXA − X − (AᵀXB + N)(BᵀXB + R)⁻¹(BᵀXA + Nᵀ) + Q = 0
-///
-/// This is equivalent to solving the original DARE:
-///
-/// A₂ᵀXA₂ − X − A₂ᵀXB(BᵀXB + R)⁻¹BᵀXA₂ + Q₂ = 0
-///
-/// where A₂ and Q₂ are a change of variables:
-///
-/// A₂ = A − BR⁻¹Nᵀ and Q₂ = Q − NR⁻¹Nᵀ
-///
-/// This overload of the DARE is useful for finding the control law uₖ that
-/// minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ.
-///
-/// @verbatim
-///     ∞ [xₖ]ᵀ[Q  N][xₖ]
-/// J = Σ [uₖ] [Nᵀ R][uₖ] ΔT
-///    k=0
-/// @endverbatim
-///
-/// This is a more general form of the following. The linear-quadratic regulator
-/// is the feedback control law uₖ that minimizes the following cost function
-/// subject to xₖ₊₁ = Axₖ + Buₖ:
-///
-/// @verbatim
-///     ∞
-/// J = Σ (xₖᵀQxₖ + uₖᵀRuₖ) ΔT
-///    k=0
-/// @endverbatim
-///
-/// This can be refactored as:
-///
-/// @verbatim
-///     ∞ [xₖ]ᵀ[Q 0][xₖ]
-/// J = Σ [uₖ] [0 R][uₖ] ΔT
-///    k=0
-/// @endverbatim
-///
-/// @throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
-/// @throws std::runtime_error if R is not positive definite.
-///
+/**
+Computes the unique stabilizing solution X to the discrete-time algebraic
+Riccati equation:
+
+AᵀXA − X − (AᵀXB + N)(BᵀXB + R)⁻¹(BᵀXA + Nᵀ) + Q = 0
+
+This is equivalent to solving the original DARE:
+
+A₂ᵀXA₂ − X − A₂ᵀXB(BᵀXB + R)⁻¹BᵀXA₂ + Q₂ = 0
+
+where A₂ and Q₂ are a change of variables:
+
+A₂ = A − BR⁻¹Nᵀ and Q₂ = Q − NR⁻¹Nᵀ
+
+This overload of the DARE is useful for finding the control law uₖ that
+minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ.
+
+@verbatim
+    ∞ [xₖ]ᵀ[Q  N][xₖ]
+J = Σ [uₖ] [Nᵀ R][uₖ] ΔT
+   k=0
+@endverbatim
+
+This is a more general form of the following. The linear-quadratic regulator
+is the feedback control law uₖ that minimizes the following cost function
+subject to xₖ₊₁ = Axₖ + Buₖ:
+
+@verbatim
+    ∞
+J = Σ (xₖᵀQxₖ + uₖᵀRuₖ) ΔT
+   k=0
+@endverbatim
+
+This can be refactored as:
+
+@verbatim
+    ∞ [xₖ]ᵀ[Q 0][xₖ]
+J = Σ [uₖ] [0 R][uₖ] ΔT
+   k=0
+@endverbatim
+
+@throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
+@throws std::runtime_error if R is not positive definite.
+*/
 WPILIB_DLLEXPORT
 Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
     const Eigen::Ref<const Eigen::MatrixXd>& A,