diff --git b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
index df7a58b2b..55b8442bf 100644
--- b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
+++ a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
@@ -4,6 +4,7 @@
 #include <cstdlib>
 
 #include <Eigen/Core>
+#include <wpi/SymbolExports.h>
 
 namespace drake {
 namespace math {
@@ -21,6 +22,7 @@ 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,
     const Eigen::Ref<const Eigen::MatrixXd>& B,
@@ -71,6 +73,7 @@ J = Σ [uₖ] [0 R][uₖ] ΔT
 @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,
     const Eigen::Ref<const Eigen::MatrixXd>& B,