diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index 61eb2c5932c..d730b10de92 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -11,6 +11,9 @@
 import edu.wpi.first.math.controller.proto.ArmFeedforwardProto;
 import edu.wpi.first.math.controller.struct.ArmFeedforwardStruct;
 import edu.wpi.first.math.jni.ArmFeedforwardJNI;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N2;
+import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.MutVoltage;
@@ -41,6 +44,21 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
   /** The calculated output voltage measure. */
   private final MutVoltage output = Volts.mutable(0.0);
 
+  /**
+   * Creates a new ArmFeedforward with the specified plant, gravity gain, and period. The static
+   * gain (ks) is assumed to be 0.0.
+   *
+   * <p>The constructor is useful for simulating the SingleJointedArmSim class.
+   *
+   * @param plant The system plant
+   * @param kg The gravity gain in volts.
+   * @param dtSeconds The period in seconds.
+   * @throws IllegalArgumentException for period &le; zero.
+   */
+  public ArmFeedforward(LinearSystem<N2, N1, N2> plant, double kg, double dtSeconds) {
+    this(0.0, kg, -plant.getA(1, 1) / plant.getB(1, 0), 1.0 / plant.getB(1, 0), dtSeconds);
+  }
+
   /**
    * Creates a new ArmFeedforward with the specified gains and period.
    *
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
index 8445e509c28..3a61b5c519d 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
@@ -9,6 +9,9 @@
 
 import edu.wpi.first.math.controller.proto.ElevatorFeedforwardProto;
 import edu.wpi.first.math.controller.struct.ElevatorFeedforwardStruct;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N2;
+import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.units.measure.Voltage;
@@ -38,6 +41,21 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
   /** The calculated output voltage measure. */
   private final MutVoltage output = Volts.mutable(0.0);
 
+  /**
+   * Creates a new ElevatorFeedforward with the specified plant, gravity gain, and period. The
+   * static gain (ks) is assumed to be 0.0.
+   *
+   * <p>The constructor is useful for simulating the ElevatorSim class.
+   *
+   * @param plant The system plant
+   * @param kg The gravity gain in volts.
+   * @param dtSeconds The period in seconds.
+   * @throws IllegalArgumentException for period &le; zero.
+   */
+  public ElevatorFeedforward(LinearSystem<N2, N1, N2> plant, double kg, double dtSeconds) {
+    this(0.0, kg, -plant.getA(1, 1) / plant.getB(1, 0), 1.0 / plant.getB(1, 0), dtSeconds);
+  }
+
   /**
    * Creates a new ElevatorFeedforward with the specified gains and period.
    *
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
index e227a63f5e6..885ff785a50 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
@@ -8,6 +8,8 @@
 
 import edu.wpi.first.math.controller.proto.SimpleMotorFeedforwardProto;
 import edu.wpi.first.math.controller.struct.SimpleMotorFeedforwardStruct;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.PerUnit;
 import edu.wpi.first.units.TimeUnit;
@@ -34,6 +36,21 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
   // ** The calculated output voltage measure */
   private final MutVoltage output = Volts.mutable(0.0);
 
+  /**
+   * Creates a new SimpleMotorFeedforward with the specified plant and period. Units used to create
+   * the plant will dictate units of the computed feedforward. The static gain (ks) is assumed to be
+   * 0.0.
+   *
+   * <p>The constructor is useful for simulating the FlywheelSim and DCMotorSim classes.
+   *
+   * @param plant The system plant
+   * @param dtSeconds The period in seconds.
+   * @throws IllegalArgumentException for period &le; zero.
+   */
+  public SimpleMotorFeedforward(LinearSystem<N1, N1, N1> plant, double dtSeconds) {
+    this(0.0, -plant.getA(0, 0) / plant.getB(0, 0), 1.0 / plant.getB(0, 0), dtSeconds);
+  }
+
   /**
    * Creates a new SimpleMotorFeedforward with the specified gains and period.
    *