diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index 897738a..ede85c0 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -3,6 +3,7 @@
 py_library(
   name = 'controls',
   srcs = [
+    'cim.py',
     'control_loop.py',
     'controls.py',
     'polytope.py',
diff --git a/frc971/control_loops/python/cim.py b/frc971/control_loops/python/cim.py
new file mode 100644
index 0000000..fc39eb9
--- /dev/null
+++ b/frc971/control_loops/python/cim.py
@@ -0,0 +1,46 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import control_loop
+import numpy
+
+class CIM(control_loop.ControlLoop):
+  def __init__(self):
+    super(CIM, self).__init__("CIM")
+    # Stall Torque in N m
+    self.stall_torque = 2.42
+    # Stall Current in Amps
+    self.stall_current = 133
+    # Free Speed in RPM
+    self.free_speed = 4650.0
+    # Free Current in Amps
+    self.free_current = 2.7
+    # Moment of inertia of the CIM in kg m^2
+    self.J = 0.0001
+    # Resistance of the motor, divided by 2 to account for the 2 motors
+    self.resistance = 12.0 / self.stall_current
+    # Motor velocity constant
+    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+              (12.0 - self.resistance * self.free_current))
+    # Torque constant
+    self.Kt = self.stall_torque / self.stall_current
+    # Control loop time step
+    self.dt = 0.005
+
+    # State feedback matrices
+    self.A_continuous = numpy.matrix(
+        [[-self.Kt / self.Kv / (self.J * self.resistance)]])
+    self.B_continuous = numpy.matrix(
+        [[self.Kt / (self.J * self.resistance)]])
+    self.C = numpy.matrix([[1]])
+    self.D = numpy.matrix([[0]])
+
+    self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+                                               self.B_continuous, self.dt)
+
+    self.PlaceControllerPoles([0.01])
+    self.PlaceObserverPoles([0.01])
+
+    self.U_max = numpy.matrix([[12.0]])
+    self.U_min = numpy.matrix([[-12.0]])
+
+    self.InitializeState()