diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index 7851397..880624e 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -11,7 +11,7 @@
         "//external:python-gflags",
         "//external:python-glog",
         "//frc971/control_loops/python:controls",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -32,7 +32,6 @@
     deps = [
         ":python_init",
         "//external:python-glog",
-        "@slycot_repo//:slycot",
     ],
 )
 
@@ -59,7 +58,7 @@
     deps = [
         ":controls",
         ":python_init",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -72,7 +71,7 @@
     deps = [
         ":controls",
         ":python_init",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -136,7 +135,7 @@
         "//external:python-glog",
         "//frc971/control_loops/python:controls",
         "//y2016/control_loops/python:polydrivetrain_lib",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -149,7 +148,7 @@
         ":controls",
         "//aos/util:py_trapezoid_profile",
         "//frc971/control_loops:python_init",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -162,7 +161,7 @@
         ":controls",
         "//aos/util:py_trapezoid_profile",
         "//frc971/control_loops:python_init",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -184,7 +183,7 @@
         ":basic_window",
         ":libspline",
         ":python_init",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
         "@python_gtk",
     ],
 )
diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index 397e6ee..34f4307 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from aos.util.trapezoid_profile import TrapezoidProfile
 from frc971.control_loops.python import control_loop
diff --git a/frc971/control_loops/python/cim.py b/frc971/control_loops/python/cim.py
index 8c13eb0..f8a6e9a 100644
--- a/frc971/control_loops/python/cim.py
+++ b/frc971/control_loops/python/cim.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from frc971.control_loops.python import control_loop
 import numpy
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index c3dc1a2..3270f78 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -357,7 +357,7 @@
             for y in range(matrix.shape[1]):
                 write_type = repr(matrix[x, y])
                 if scalar_type == 'float':
-                    if '.' not in write_type:
+                    if '.' not in write_type and 'e' not in write_type:
                         write_type += '.0'
                     write_type += 'f'
                 ans.append(
diff --git a/frc971/control_loops/python/controls.py b/frc971/control_loops/python/controls.py
index defdbd2..4fdf1e9 100644
--- a/frc971/control_loops/python/controls.py
+++ b/frc971/control_loops/python/controls.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 """
 Control loop pole placement library.
@@ -10,22 +10,18 @@
 __author__ = 'Austin Schuh (austin.linux@gmail.com)'
 
 import numpy
-import slycot
 import scipy.linalg
+import scipy.signal
 import glog
 
 class Error (Exception):
   """Base class for all control loop exceptions."""
 
 
-class PolePlacementError(Error):
-  """Exception raised when pole placement fails."""
-
-
 # TODO(aschuh): dplace should take a control system object.
 # There should also exist a function to manipulate laplace expressions, and
 # something to plot bode plots and all that.
-def dplace(A, B, poles, alpha=1e-6):
+def dplace(A, B, poles):
   """Set the poles of (A - BF) to poles.
 
   Args:
@@ -34,55 +30,10 @@
     poles: array(imaginary numbers), The poles to use.  Complex conjugates poles
       must be in pairs.
 
-  Raises:
-    ValueError: Arguments were the wrong shape or there were too many poles.
-    PolePlacementError: Pole placement failed.
-
   Returns:
     numpy.matrix(m x n), K
   """
-  # See http://www.icm.tu-bs.de/NICONET/doc/SB01BD.html for a description of the
-  # fortran code that this is cleaning up the interface to.
-  n = A.shape[0]
-  if A.shape[1] != n:
-    raise ValueError("A must be square")
-  if B.shape[0] != n:
-    raise ValueError("B must have the same number of states as A.")
-  m = B.shape[1]
-
-  num_poles = len(poles)
-  if num_poles > n:
-    raise ValueError("Trying to place more poles than states.")
-
-  out = slycot.sb01bd(n=n,
-                      m=m,
-                      np=num_poles,
-                      alpha=alpha,
-                      A=A,
-                      B=B,
-                      w=numpy.array(poles),
-                      dico='D')
-
-  A_z = numpy.matrix(out[0])
-  num_too_small_eigenvalues = out[2]
-  num_assigned_eigenvalues = out[3]
-  num_uncontrollable_eigenvalues = out[4]
-  K = numpy.matrix(-out[5])
-  Z = numpy.matrix(out[6])
-
-  if num_too_small_eigenvalues != 0:
-    raise PolePlacementError("Number of eigenvalues that are too small "
-                             "and are therefore unmodified is %d." %
-                             num_too_small_eigenvalues)
-  if num_assigned_eigenvalues != num_poles:
-    raise PolePlacementError("Did not place all the eigenvalues that were "
-                             "requested. Only placed %d eigenvalues." %
-                             num_assigned_eigenvalues)
-  if num_uncontrollable_eigenvalues != 0:
-    raise PolePlacementError("Found %d uncontrollable eigenvlaues." %
-                             num_uncontrollable_eigenvalues)
-
-  return K
+  return scipy.signal.place_poles(A=A, B=B, poles=numpy.array(poles)).gain_matrix
 
 def c2d(A, B, dt):
   """Converts from continuous time state space representation to discrete time.
@@ -133,9 +84,7 @@
   # P = (A.T * P * A) - (A.T * P * B * numpy.linalg.inv(R + B.T * P *B) * (A.T * P.T * B).T + Q
   # 0.5 * X.T * P * X -> optimal cost to infinity
 
-  P, rcond, w, S, T = slycot.sb02od(
-      n=A.shape[0], m=B.shape[1], A=A, B=B, Q=Q, R=R, dico='D')
-
+  P = scipy.linalg.solve_discrete_are(a=A, b=B, q=Q, r=R)
   F = numpy.linalg.inv(R + B.T * P * B) * B.T * P * A
   if optimal_cost_function:
     return F, P
@@ -164,9 +113,9 @@
                  controllability_rank, n)
 
   # Compute the steady state covariance matrix.
-  P_prior, rcond, w, S, T = slycot.sb02od(n=n, m=m, A=A.T, B=C.T, Q=Q, R=R, dico='D')
+  P_prior = scipy.linalg.solve_discrete_are(a=A.T, b=C.T, q=Q, r=R)
   S = C * P_prior * C.T + R
-  K = numpy.linalg.lstsq(S.T, (P_prior * C.T).T)[0].T
+  K = numpy.linalg.lstsq(S.T, (P_prior * C.T).T, rcond=None)[0].T
   P = (I - K * C) * P_prior
 
   return K, P
diff --git a/frc971/control_loops/python/down_estimator.py b/frc971/control_loops/python/down_estimator.py
index c4b8e7e..224fe03 100644
--- a/frc971/control_loops/python/down_estimator.py
+++ b/frc971/control_loops/python/down_estimator.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 import math
 import sys
diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index a020276..b29e1e6 100644
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import controls
diff --git a/frc971/control_loops/python/haptic_wheel.py b/frc971/control_loops/python/haptic_wheel.py
index 79c9c35..5e63df3 100755
--- a/frc971/control_loops/python/haptic_wheel.py
+++ b/frc971/control_loops/python/haptic_wheel.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import controls
diff --git a/frc971/control_loops/python/lib_spline_test.py b/frc971/control_loops/python/lib_spline_test.py
index b4efe72..a1e298a 100644
--- a/frc971/control_loops/python/lib_spline_test.py
+++ b/frc971/control_loops/python/lib_spline_test.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 import math
 import numpy as np
diff --git a/frc971/control_loops/python/libcdd.py b/frc971/control_loops/python/libcdd.py
index b46d908..72d5833 100644
--- a/frc971/control_loops/python/libcdd.py
+++ b/frc971/control_loops/python/libcdd.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 """Wrapper around libcdd, a polytope manipulation library."""
 
@@ -8,24 +8,16 @@
 import os
 import sys
 
-# Wrapper around PyFile_AsFile so that we can print out the error messages.
-# Set the arg type and return types of the function call.
-class FILE(ctypes.Structure):
-  pass
-
-ctypes.pythonapi.PyFile_AsFile.argtypes = [ctypes.py_object]
-ctypes.pythonapi.PyFile_AsFile.restype = ctypes.POINTER(FILE)
-
 # Load and init libcdd.  libcdd is a C library that implements algorithm to
 # manipulate half space and vertex representations of polytopes.
 # Unfortunately, the library was compiled with C++ even though it has a lot of C
 # code in it, so all the symbol names are mangled.  Ug.
 libcdd = None
 for path in os.environ.get('PYTHONPATH').split(':'):
-  try:
-    libcdd = ctypes.cdll.LoadLibrary(os.path.join(path, 'third_party/cddlib/_cddlib.so'))
-  except OSError, e:
-    pass
+    try:
+        libcdd = ctypes.cdll.LoadLibrary(os.path.join(path, 'third_party/cddlib/_cddlib.so'))
+    except OSError:
+        pass
 
 assert libcdd is not None, 'Failed to find _cddlib.so'
 
@@ -41,21 +33,21 @@
 
 # Forward declaration for the polyhedra data structure.
 class dd_polyhedradata(ctypes.Structure):
-  pass
+    pass
 
 
 # Definition of dd_matrixdata
 class dd_matrixdata(ctypes.Structure):
-  _fields_ = [
-      ("rowsize", ctypes.c_long),
-      ("linset", ctypes.POINTER(ctypes.c_ulong)),
-      ("colsize", ctypes.c_long),
-      ("representation", ctypes.c_int),
-      ("numbtype", ctypes.c_int),
-      ("matrix", ctypes.POINTER(ctypes.POINTER(mytype))),
-      ("objective", ctypes.c_int),
-      ("rowvec", ctypes.POINTER(mytype)),
-  ]
+    _fields_ = [
+        ("rowsize", ctypes.c_long),
+        ("linset", ctypes.POINTER(ctypes.c_ulong)),
+        ("colsize", ctypes.c_long),
+        ("representation", ctypes.c_int),
+        ("numbtype", ctypes.c_int),
+        ("matrix", ctypes.POINTER(ctypes.POINTER(mytype))),
+        ("objective", ctypes.c_int),
+        ("rowvec", ctypes.POINTER(mytype)),
+    ]
 
 # Define the input and output types for a bunch of libcdd functions.
 libcdd.dd_CreateMatrix.restype = ctypes.POINTER(dd_matrixdata)
@@ -95,40 +87,40 @@
 
 
 def dd_CreateMatrix(rows, cols):
-  return libcdd.dd_CreateMatrix(ctypes.c_long(rows), ctypes.c_long(cols))
+    return libcdd.dd_CreateMatrix(ctypes.c_long(rows), ctypes.c_long(cols))
 
 
 def dd_set_d(mytype_address, double_value):
-  libcdd.ddd_set_d(mytype_address, ctypes.c_double(double_value))
+    libcdd.ddd_set_d(mytype_address, ctypes.c_double(double_value))
 
 
 def dd_CopyGenerators(polyhedraptr):
-  return libcdd.dd_CopyGenerators(polyhedraptr)
+    return libcdd.dd_CopyGenerators(polyhedraptr)
 
 
 def dd_get_d(mytype_address):
-  return libcdd.ddd_get_d(mytype_address)
+    return libcdd.ddd_get_d(mytype_address)
 
 
 def dd_FreeMatrix(matrixptr):
-  libcdd.dd_FreeMatrix(matrixptr)
+    libcdd.dd_FreeMatrix(matrixptr)
 
 
 def dd_FreePolyhedra(polyhedraptr):
-  libcdd.dd_FreePolyhedra(polyhedraptr)
+    libcdd.dd_FreePolyhedra(polyhedraptr)
 
 
 def dd_DDMatrix2Poly(matrixptr):
-  error = ctypes.c_int()
-  polyhedraptr = libcdd.dd_DDMatrix2Poly(matrixptr, ctypes.byref(error))
+    error = ctypes.c_int()
+    polyhedraptr = libcdd.dd_DDMatrix2Poly(matrixptr, ctypes.byref(error))
 
-  # Return None on error.
-  # The error values are enums, so they aren't exposed.
-  if error.value != DD_NO_ERRORS:
-    # Dump out the errors to stderr
-    libcdd.dd_WriteErrorMessages(
-        ctypes.pythonapi.PyFile_AsFile(ctypes.py_object(sys.stdout)),
-        error)
-    dd_FreePolyhedra(polyhedraptr)
-    return None
-  return polyhedraptr
+    # Return None on error.
+    # The error values are enums, so they aren't exposed.
+    if error.value != DD_NO_ERRORS:
+        # TODO(austin): Dump out the errors to stderr
+        #libcdd.dd_WriteErrorMessages(
+        #    ctypes.pythonapi.PyFile_AsFile(ctypes.py_object(sys.stdout)),
+        #    error)
+        dd_FreePolyhedra(polyhedraptr)
+        return None
+    return polyhedraptr
diff --git a/frc971/control_loops/python/libspline.py b/frc971/control_loops/python/libspline.py
index 9799caa..24f1f51 100755
--- a/frc971/control_loops/python/libspline.py
+++ b/frc971/control_loops/python/libspline.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 """Wrapper around spline.h/cc through spline_array.cc."""
 
 __author__ = 'Alex Perry (alex.perry96@gmail.com)'
diff --git a/frc971/control_loops/python/linear_system.py b/frc971/control_loops/python/linear_system.py
index a2e37f0..9cf49c2 100755
--- a/frc971/control_loops/python/linear_system.py
+++ b/frc971/control_loops/python/linear_system.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from aos.util.trapezoid_profile import TrapezoidProfile
 from frc971.control_loops.python import control_loop
diff --git a/frc971/control_loops/python/polydrivetrain.py b/frc971/control_loops/python/polydrivetrain.py
index 06a182e..2623dda 100644
--- a/frc971/control_loops/python/polydrivetrain.py
+++ b/frc971/control_loops/python/polydrivetrain.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 import numpy
 from frc971.control_loops.python import polytope
diff --git a/frc971/control_loops/python/polytope.py b/frc971/control_loops/python/polytope.py
index a1cba57..5aa7ba3 100644
--- a/frc971/control_loops/python/polytope.py
+++ b/frc971/control_loops/python/polytope.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 """
 Polyhedral set library.
@@ -29,7 +29,7 @@
   split_string = s.split('\n')
   width = max(len(stringpiece) for stringpiece in split_string) + 1
 
-  padded_strings = [string.ljust(stringpiece, width, ' ')
+  padded_strings = [stringpiece.ljust(width, ' ')
                         for stringpiece in split_string]
   return padded_strings
 
diff --git a/frc971/control_loops/python/polytope_test.py b/frc971/control_loops/python/polytope_test.py
index f5e4783..68401c2 100755
--- a/frc971/control_loops/python/polytope_test.py
+++ b/frc971/control_loops/python/polytope_test.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 import numpy
 from numpy.testing import *
@@ -153,39 +153,39 @@
     def test_few_constraints_odd_constraint_even_dims_str(self):
         """Tests printing out the set with odd constraints and even dimensions."""
         self.MakePWithDims(num_constraints=5, num_dims=2)
-        self.assertEqual('[[ 0.  0.]            [[ 0.]  \n'
-                         ' [ 0.  0.]  [[x0]      [ 0.]  \n'
-                         ' [ 0.  0.]   [x1]] <=  [ 0.]  \n'
-                         ' [ 0.  0.]             [ 0.]  \n'
-                         ' [ 0.  0.]]            [ 0.]] ',
+        self.assertEqual('[[0. 0.]            [[0.]  \n'
+                         ' [0. 0.]  [[x0]      [0.]  \n'
+                         ' [0. 0.]   [x1]] <=  [0.]  \n'
+                         ' [0. 0.]             [0.]  \n'
+                         ' [0. 0.]]            [0.]] ',
                          str(self.p))
 
     def test_few_constraints_odd_constraint_small_dims_str(self):
         """Tests printing out the set with odd constraints and odd dimensions."""
         self.MakePWithDims(num_constraints=5, num_dims=1)
-        self.assertEqual('[[ 0.]            [[ 0.]  \n'
-                         ' [ 0.]             [ 0.]  \n'
-                         ' [ 0.]  [[x0]] <=  [ 0.]  \n'
-                         ' [ 0.]             [ 0.]  \n'
-                         ' [ 0.]]            [ 0.]] ',
+        self.assertEqual('[[0.]            [[0.]  \n'
+                         ' [0.]             [0.]  \n'
+                         ' [0.]  [[x0]] <=  [0.]  \n'
+                         ' [0.]             [0.]  \n'
+                         ' [0.]]            [0.]] ',
                          str(self.p))
 
     def test_few_constraints_odd_constraint_odd_dims_str(self):
         """Tests printing out the set with odd constraints and odd dimensions."""
         self.MakePWithDims(num_constraints=5, num_dims=3)
-        self.assertEqual('[[ 0.  0.  0.]            [[ 0.]  \n'
-                         ' [ 0.  0.  0.]  [[x0]      [ 0.]  \n'
-                         ' [ 0.  0.  0.]   [x1]  <=  [ 0.]  \n'
-                         ' [ 0.  0.  0.]   [x2]]     [ 0.]  \n'
-                         ' [ 0.  0.  0.]]            [ 0.]] ',
+        self.assertEqual('[[0. 0. 0.]            [[0.]  \n'
+                         ' [0. 0. 0.]  [[x0]      [0.]  \n'
+                         ' [0. 0. 0.]   [x1]  <=  [0.]  \n'
+                         ' [0. 0. 0.]   [x2]]     [0.]  \n'
+                         ' [0. 0. 0.]]            [0.]] ',
                          str(self.p))
 
     def test_many_constraints_even_constraint_odd_dims_str(self):
         """Tests printing out the set with even constraints and odd dimensions."""
         self.MakePWithDims(num_constraints=2, num_dims=3)
-        self.assertEqual('[[ 0.  0.  0.]  [[x0]     [[ 0.]  \n'
-                         ' [ 0.  0.  0.]]  [x1]  <=  [ 0.]] \n'
-                         '                 [x2]]            ',
+        self.assertEqual('[[0. 0. 0.]  [[x0]     [[0.]  \n'
+                         ' [0. 0. 0.]]  [x1]  <=  [0.]] \n'
+                         '              [x2]]           ',
                          str(self.p))
 
 
diff --git a/frc971/control_loops/python/spline.py b/frc971/control_loops/python/spline.py
index 890ef9f..8a0ac04 100644
--- a/frc971/control_loops/python/spline.py
+++ b/frc971/control_loops/python/spline.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from __future__ import print_function
 
diff --git a/frc971/control_loops/python/static_zeroing_single_dof_profiled_subsystem_test.py b/frc971/control_loops/python/static_zeroing_single_dof_profiled_subsystem_test.py
index 839677e..8080aff 100644
--- a/frc971/control_loops/python/static_zeroing_single_dof_profiled_subsystem_test.py
+++ b/frc971/control_loops/python/static_zeroing_single_dof_profiled_subsystem_test.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 # Generates profiled subsystem for use in
 # static_zeroing_single_dof_profiled_subsystem_test