diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index d6bd85f..bb34b85 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -276,15 +276,17 @@
         num_states, num_inputs, num_outputs, self._name)]
 
     ans.append(self._DumpMatrix('A', self.A))
+    ans.append(self._DumpMatrix('A_continuous', self.A_continuous))
     ans.append(self._DumpMatrix('B', self.B))
+    ans.append(self._DumpMatrix('B_continuous', self.B_continuous))
     ans.append(self._DumpMatrix('C', self.C))
     ans.append(self._DumpMatrix('D', self.D))
     ans.append(self._DumpMatrix('U_max', self.U_max))
     ans.append(self._DumpMatrix('U_min', self.U_min))
 
     ans.append('  return StateFeedbackPlantCoefficients<%d, %d, %d>'
-               '(A, B, C, D, U_max, U_min);\n' % (num_states, num_inputs,
-                                                  num_outputs))
+               '(A, A_continuous, B, B_continuous, C, D, U_max, U_min);\n' % (
+                   num_states, num_inputs, num_outputs))
     ans.append('}\n')
     return ''.join(ans)
 
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index e535ae7..a81f2cc 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -26,7 +26,9 @@
 
   StateFeedbackPlantCoefficients(const StateFeedbackPlantCoefficients &other)
       : A_(other.A()),
+        A_continuous_(other.A_continuous()),
         B_(other.B()),
+        B_continuous_(other.B_continuous()),
         C_(other.C()),
         D_(other.D()),
         U_min_(other.U_min()),
@@ -34,21 +36,41 @@
 
   StateFeedbackPlantCoefficients(
       const Eigen::Matrix<double, number_of_states, number_of_states> &A,
+      const Eigen::Matrix<double, number_of_states, number_of_states>
+          &A_continuous,
       const Eigen::Matrix<double, number_of_states, number_of_inputs> &B,
+      const Eigen::Matrix<double, number_of_states, number_of_inputs>
+          &B_continuous,
       const Eigen::Matrix<double, number_of_outputs, number_of_states> &C,
       const Eigen::Matrix<double, number_of_outputs, number_of_inputs> &D,
       const Eigen::Matrix<double, number_of_inputs, 1> &U_max,
       const Eigen::Matrix<double, number_of_inputs, 1> &U_min)
-      : A_(A), B_(B), C_(C), D_(D), U_min_(U_min), U_max_(U_max) {}
+      : A_(A),
+        A_continuous_(A_continuous),
+        B_(B),
+        B_continuous_(B_continuous),
+        C_(C),
+        D_(D),
+        U_min_(U_min),
+        U_max_(U_max) {}
 
   const Eigen::Matrix<double, number_of_states, number_of_states> &A() const {
     return A_;
   }
   double A(int i, int j) const { return A()(i, j); }
+  const Eigen::Matrix<double, number_of_states, number_of_states> &A_continuous()
+      const {
+    return A_continuous_;
+  }
+  double A_continuous(int i, int j) const { return A_continuous()(i, j); }
   const Eigen::Matrix<double, number_of_states, number_of_inputs> &B() const {
     return B_;
   }
   double B(int i, int j) const { return B()(i, j); }
+  const Eigen::Matrix<double, number_of_states, number_of_inputs> &B_continuous() const {
+    return B_continuous_;
+  }
+  double B_continuous(int i, int j) const { return B_continuous()(i, j); }
   const Eigen::Matrix<double, number_of_outputs, number_of_states> &C() const {
     return C_;
   }
@@ -68,7 +90,9 @@
 
  private:
   const Eigen::Matrix<double, number_of_states, number_of_states> A_;
+  const Eigen::Matrix<double, number_of_states, number_of_states> A_continuous_;
   const Eigen::Matrix<double, number_of_states, number_of_inputs> B_;
+  const Eigen::Matrix<double, number_of_states, number_of_inputs> B_continuous_;
   const Eigen::Matrix<double, number_of_outputs, number_of_states> C_;
   const Eigen::Matrix<double, number_of_outputs, number_of_inputs> D_;
   const Eigen::Matrix<double, number_of_inputs, 1> U_min_;
diff --git a/frc971/control_loops/state_feedback_loop_test.cc b/frc971/control_loops/state_feedback_loop_test.cc
index 6f97bc7..a08841e 100644
--- a/frc971/control_loops/state_feedback_loop_test.cc
+++ b/frc971/control_loops/state_feedback_loop_test.cc
@@ -14,6 +14,8 @@
   // compile or have assertion failures at runtime.
   const StateFeedbackPlantCoefficients<2, 4, 7> coefficients(
       Eigen::Matrix<double, 2, 2>::Identity(),
+      Eigen::Matrix<double, 2, 2>::Identity(),
+      Eigen::Matrix<double, 2, 4>::Identity(),
       Eigen::Matrix<double, 2, 4>::Identity(),
       Eigen::Matrix<double, 7, 2>::Identity(),
       Eigen::Matrix<double, 7, 4>::Identity(),