diff --git a/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp b/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
index 9585c4dae..d53fbdddf 100644
--- a/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
+++ b/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
@@ -453,5 +453,18 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
   return X;
 }
 
+Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
+    const Eigen::Ref<const Eigen::MatrixXd>& A,
+    const Eigen::Ref<const Eigen::MatrixXd>& B,
+    const Eigen::Ref<const Eigen::MatrixXd>& Q,
+    const Eigen::Ref<const Eigen::MatrixXd>& R,
+    const Eigen::Ref<const Eigen::MatrixXd>& N) {
+    DRAKE_DEMAND(N.rows() == B.rows() && N.cols() == B.cols());
+
+    Eigen::MatrixXd scrA = A - B * R.llt().solve(N.transpose());
+    Eigen::MatrixXd scrQ = Q - N * R.llt().solve(N.transpose());
+    return DiscreteAlgebraicRiccatiEquation(scrA, B, scrQ, R);
+}
+
 }  // namespace math
 }  // namespace drake
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 e3fea30c5..9b9fe97ec 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
@@ -27,6 +27,27 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
     const Eigen::Ref<const Eigen::MatrixXd>& B,
     const Eigen::Ref<const Eigen::MatrixXd>& Q,
     const Eigen::Ref<const Eigen::MatrixXd>& R);
+
+/// DiscreteAlgebraicRiccatiEquation function
+/// computes the unique stabilizing solution X to the discrete-time algebraic
+/// Riccati equation:
+/// \f[
+/// A'XA - X - (A'XB + N)(B'XB + R)^{-1}(B'XA + N') + Q = 0
+/// \f]
+///
+/// See
+/// https://en.wikipedia.org/wiki/Linear%E2%80%93quadratic_regulator#Infinite-horizon,_discrete-time_LQR
+/// for the change of variables used here.
+///
+/// @throws std::runtime_error if Q is not positive semi-definite.
+/// @throws std::runtime_error if R is not positive definite.
+///
+Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
+    const Eigen::Ref<const Eigen::MatrixXd>& A,
+    const Eigen::Ref<const Eigen::MatrixXd>& B,
+    const Eigen::Ref<const Eigen::MatrixXd>& Q,
+    const Eigen::Ref<const Eigen::MatrixXd>& R,
+    const Eigen::Ref<const Eigen::MatrixXd>& N);
 }  // namespace math
 }  // namespace drake