diff --git a/frc971/control_loops/c2d.h b/frc971/control_loops/c2d.h
index a11fed5..7c1bf81 100644
--- a/frc971/control_loops/c2d.h
+++ b/frc971/control_loops/c2d.h
@@ -51,7 +51,7 @@
   M_gain.template block<num_states, num_states>(num_states, num_states) =
       A_continuous.transpose();
 
-  Eigen::Matrix<Scalar, 2 * num_states, 2 *num_states> phi =
+  Eigen::Matrix<Scalar, 2 * num_states, 2 * num_states> phi =
       (M_gain * ::aos::time::TypedDurationInSeconds<Scalar>(dt)).exp();
 
   // Phi12 = phi[0:num_states, num_states:2*num_states]
diff --git a/frc971/control_loops/dlqr.h b/frc971/control_loops/dlqr.h
index d7af426..48e8474 100644
--- a/frc971/control_loops/dlqr.h
+++ b/frc971/control_loops/dlqr.h
@@ -74,14 +74,14 @@
   memset(BETA, 0, sizeof(BETA));
 
   long LDS = 2 * kN + kM;
-  ::Eigen::Matrix<double, 2 * kN + kM, 2 *kN + kM> S_schur =
+  ::Eigen::Matrix<double, 2 * kN + kM, 2 * kN + kM> S_schur =
       ::Eigen::Matrix<double, 2 * kN + kM, 2 * kN + kM>::Zero();
 
-  ::Eigen::Matrix<double, 2 * kN + kM, 2 *kN> T =
+  ::Eigen::Matrix<double, 2 * kN + kM, 2 * kN> T =
       ::Eigen::Matrix<double, 2 * kN + kM, 2 * kN>::Zero();
   long LDT = 2 * kN + kM;
 
-  ::Eigen::Matrix<double, 2 * kN, 2 *kN> U =
+  ::Eigen::Matrix<double, 2 * kN, 2 * kN> U =
       ::Eigen::Matrix<double, 2 * kN, 2 * kN>::Zero();
   long LDU = 2 * kN;