diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index 4053eae..72597c6 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -253,6 +253,11 @@
 
   status->ready_to_intake = false;
 
+  // Set the controller to use to be the one designed for the current number of
+  // discs in the hopper.  This is safe since the controller prevents the index
+  // from being set out of bounds and picks the closest controller.
+  wrist_loop_->set_controller_index(frisbees_.size());
+
   // Compute a safe index position that we can use.
   if (position) {
     wrist_loop_->Y << position->index_position;
diff --git a/frc971/control_loops/index/index_lib_test.cc b/frc971/control_loops/index/index_lib_test.cc
index 1172ee2..3e2e674 100644
--- a/frc971/control_loops/index/index_lib_test.cc
+++ b/frc971/control_loops/index/index_lib_test.cc
@@ -588,6 +588,7 @@
   void Simulate() {
     EXPECT_TRUE(my_index_loop_.output.FetchLatest());
 
+    index_plant_->set_plant_index(frisbees.size());
     index_plant_->U << my_index_loop_.output->index_voltage;
     index_plant_->Update();
 
diff --git a/frc971/control_loops/index/index_motor_plant.cc b/frc971/control_loops/index/index_motor_plant.cc
index 51661fb..10fa60c 100644
--- a/frc971/control_loops/index/index_motor_plant.cc
+++ b/frc971/control_loops/index/index_motor_plant.cc
@@ -1,12 +1,29 @@
 #include "frc971/control_loops/index/index_motor_plant.h"
 
+#include <vector>
+
 #include "frc971/control_loops/state_feedback_loop.h"
 
 namespace frc971 {
 namespace control_loops {
 
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex0DiscPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 1.0, 0.00832470485812, 0.0, 0.68478614982;
+  Eigen::Matrix<double, 2, 1> B;
+  B << 0.06201698456, 11.6687573378;
+  Eigen::Matrix<double, 1, 2> C;
+  C << 1, 0;
+  Eigen::Matrix<double, 1, 1> D;
+  D << 0;
+  Eigen::Matrix<double, 1, 1> U_max;
+  U_max << 12.0;
+  Eigen::Matrix<double, 1, 1> U_min;
+  U_min << -12.0;
+  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
+}
 
-StateFeedbackPlant<2, 1, 1> MakeIndexPlant() {
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex1DiscPlantCoefficients() {
   Eigen::Matrix<double, 2, 2> A;
   A << 1.0, 0.00867533005665, 0.0, 0.747315209983;
   Eigen::Matrix<double, 2, 1> B;
@@ -19,16 +36,116 @@
   U_max << 12.0;
   Eigen::Matrix<double, 1, 1> U_min;
   U_min << -12.0;
-  return StateFeedbackPlant<2, 1, 1>(A, B, C, D, U_max, U_min);
+  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
 }
 
-StateFeedbackLoop<2, 1, 1> MakeIndexLoop() {
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex2DiscPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 1.0, 0.00867533005665, 0.0, 0.747315209983;
+  Eigen::Matrix<double, 2, 1> B;
+  B << 0.0490373507155, 9.35402266105;
+  Eigen::Matrix<double, 1, 2> C;
+  C << 1, 0;
+  Eigen::Matrix<double, 1, 1> D;
+  D << 0;
+  Eigen::Matrix<double, 1, 1> U_max;
+  U_max << 12.0;
+  Eigen::Matrix<double, 1, 1> U_min;
+  U_min << -12.0;
+  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex3DiscPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 1.0, 0.00901822957243, 0.0, 0.810292182273;
+  Eigen::Matrix<double, 2, 1> B;
+  B << 0.0363437103863, 7.02270693014;
+  Eigen::Matrix<double, 1, 2> C;
+  C << 1, 0;
+  Eigen::Matrix<double, 1, 1> D;
+  D << 0;
+  Eigen::Matrix<double, 1, 1> U_max;
+  U_max << 12.0;
+  Eigen::Matrix<double, 1, 1> U_min;
+  U_min << -12.0;
+  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex4DiscPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 1.0, 0.00927953099869, 0.0, 0.859452713637;
+  Eigen::Matrix<double, 2, 1> B;
+  B << 0.0266707124098, 5.20285570613;
+  Eigen::Matrix<double, 1, 2> C;
+  C << 1, 0;
+  Eigen::Matrix<double, 1, 1> D;
+  D << 0;
+  Eigen::Matrix<double, 1, 1> U_max;
+  U_max << 12.0;
+  Eigen::Matrix<double, 1, 1> U_min;
+  U_min << -12.0;
+  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<2, 1, 1> MakeIndex0DiscController() {
+  Eigen::Matrix<double, 2, 1> L;
+  L << 1.58478614982, 48.4122215588;
+  Eigen::Matrix<double, 1, 2> K;
+  K << 1.90251621122, 0.0460029989298;
+  return StateFeedbackController<2, 1, 1>(L, K, MakeIndex0DiscPlantCoefficients());
+}
+
+StateFeedbackController<2, 1, 1> MakeIndex1DiscController() {
   Eigen::Matrix<double, 2, 1> L;
   L << 1.64731520998, 56.0569452572;
   Eigen::Matrix<double, 1, 2> K;
-  K << 2.40538224198, 0.0619371641882;
-  return StateFeedbackLoop<2, 1, 1>(L, K, MakeIndexPlant());
+  K << 2.37331047876, 0.0642434141389;
+  return StateFeedbackController<2, 1, 1>(L, K, MakeIndex1DiscPlantCoefficients());
 }
 
-}  // namespace frc971
+StateFeedbackController<2, 1, 1> MakeIndex2DiscController() {
+  Eigen::Matrix<double, 2, 1> L;
+  L << 1.64731520998, 56.0569452572;
+  Eigen::Matrix<double, 1, 2> K;
+  K << 2.37331047876, 0.0642434141389;
+  return StateFeedbackController<2, 1, 1>(L, K, MakeIndex2DiscPlantCoefficients());
+}
+
+StateFeedbackController<2, 1, 1> MakeIndex3DiscController() {
+  Eigen::Matrix<double, 2, 1> L;
+  L << 1.71029218227, 64.1044007344;
+  Eigen::Matrix<double, 1, 2> K;
+  K << 3.16117420545, 0.0947502706704;
+  return StateFeedbackController<2, 1, 1>(L, K, MakeIndex3DiscPlantCoefficients());
+}
+
+StateFeedbackController<2, 1, 1> MakeIndex4DiscController() {
+  Eigen::Matrix<double, 2, 1> L;
+  L << 1.75945271364, 70.6153894746;
+  Eigen::Matrix<double, 1, 2> K;
+  K << 4.26688750446, 0.137549804289;
+  return StateFeedbackController<2, 1, 1>(L, K, MakeIndex4DiscPlantCoefficients());
+}
+
+StateFeedbackPlant<2, 1, 1> MakeIndexPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<2, 1, 1> *> plants(5);
+  plants[0] = new StateFeedbackPlantCoefficients<2, 1, 1>(MakeIndex0DiscPlantCoefficients());
+  plants[1] = new StateFeedbackPlantCoefficients<2, 1, 1>(MakeIndex1DiscPlantCoefficients());
+  plants[2] = new StateFeedbackPlantCoefficients<2, 1, 1>(MakeIndex2DiscPlantCoefficients());
+  plants[3] = new StateFeedbackPlantCoefficients<2, 1, 1>(MakeIndex3DiscPlantCoefficients());
+  plants[4] = new StateFeedbackPlantCoefficients<2, 1, 1>(MakeIndex4DiscPlantCoefficients());
+  return StateFeedbackPlant<2, 1, 1>(plants);
+}
+
+StateFeedbackLoop<2, 1, 1> MakeIndexLoop() {
+  ::std::vector<StateFeedbackController<2, 1, 1> *> controllers(5);
+  controllers[0] = new StateFeedbackController<2, 1, 1>(MakeIndex0DiscController());
+  controllers[1] = new StateFeedbackController<2, 1, 1>(MakeIndex1DiscController());
+  controllers[2] = new StateFeedbackController<2, 1, 1>(MakeIndex2DiscController());
+  controllers[3] = new StateFeedbackController<2, 1, 1>(MakeIndex3DiscController());
+  controllers[4] = new StateFeedbackController<2, 1, 1>(MakeIndex4DiscController());
+  return StateFeedbackLoop<2, 1, 1>(controllers);
+}
+
 }  // namespace control_loops
+}  // namespace frc971
diff --git a/frc971/control_loops/index/index_motor_plant.h b/frc971/control_loops/index/index_motor_plant.h
index 4600ccf..e82db6a 100644
--- a/frc971/control_loops/index/index_motor_plant.h
+++ b/frc971/control_loops/index/index_motor_plant.h
@@ -6,11 +6,31 @@
 namespace frc971 {
 namespace control_loops {
 
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex0DiscPlantCoefficients();
+
+StateFeedbackController<2, 1, 1> MakeIndex0DiscController();
+
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex1DiscPlantCoefficients();
+
+StateFeedbackController<2, 1, 1> MakeIndex1DiscController();
+
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex2DiscPlantCoefficients();
+
+StateFeedbackController<2, 1, 1> MakeIndex2DiscController();
+
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex3DiscPlantCoefficients();
+
+StateFeedbackController<2, 1, 1> MakeIndex3DiscController();
+
+StateFeedbackPlantCoefficients<2, 1, 1> MakeIndex4DiscPlantCoefficients();
+
+StateFeedbackController<2, 1, 1> MakeIndex4DiscController();
+
 StateFeedbackPlant<2, 1, 1> MakeIndexPlant();
 
 StateFeedbackLoop<2, 1, 1> MakeIndexLoop();
 
-}  // namespace frc971
 }  // namespace control_loops
+}  // namespace frc971
 
 #endif  // FRC971_CONTROL_LOOPS_INDEX_INDEX_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/index/transfer_motor_plant.cc b/frc971/control_loops/index/transfer_motor_plant.cc
index 9333f6a..0852b26 100644
--- a/frc971/control_loops/index/transfer_motor_plant.cc
+++ b/frc971/control_loops/index/transfer_motor_plant.cc
@@ -1,12 +1,13 @@
 #include "frc971/control_loops/index/transfer_motor_plant.h"
 
+#include <vector>
+
 #include "frc971/control_loops/state_feedback_loop.h"
 
 namespace frc971 {
 namespace control_loops {
 
-
-StateFeedbackPlant<2, 1, 1> MakeTransferPlant() {
+StateFeedbackPlantCoefficients<2, 1, 1> MakeTransferPlantCoefficients() {
   Eigen::Matrix<double, 2, 2> A;
   A << 1.0, 0.00867533005665, 0.0, 0.747315209983;
   Eigen::Matrix<double, 2, 1> B;
@@ -19,16 +20,28 @@
   U_max << 12.0;
   Eigen::Matrix<double, 1, 1> U_min;
   U_min << -12.0;
-  return StateFeedbackPlant<2, 1, 1>(A, B, C, D, U_max, U_min);
+  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
 }
 
-StateFeedbackLoop<2, 1, 1> MakeTransferLoop() {
+StateFeedbackController<2, 1, 1> MakeTransferController() {
   Eigen::Matrix<double, 2, 1> L;
   L << 1.64731520998, 56.0569452572;
   Eigen::Matrix<double, 1, 2> K;
   K << 1.06905877421, 0.0368709177253;
-  return StateFeedbackLoop<2, 1, 1>(L, K, MakeTransferPlant());
+  return StateFeedbackController<2, 1, 1>(L, K, MakeTransferPlantCoefficients());
 }
 
-}  // namespace frc971
+StateFeedbackPlant<2, 1, 1> MakeTransferPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<2, 1, 1> *> plants(1);
+  plants[0] = new StateFeedbackPlantCoefficients<2, 1, 1>(MakeTransferPlantCoefficients());
+  return StateFeedbackPlant<2, 1, 1>(plants);
+}
+
+StateFeedbackLoop<2, 1, 1> MakeTransferLoop() {
+  ::std::vector<StateFeedbackController<2, 1, 1> *> controllers(1);
+  controllers[0] = new StateFeedbackController<2, 1, 1>(MakeTransferController());
+  return StateFeedbackLoop<2, 1, 1>(controllers);
+}
+
 }  // namespace control_loops
+}  // namespace frc971
diff --git a/frc971/control_loops/index/transfer_motor_plant.h b/frc971/control_loops/index/transfer_motor_plant.h
index 565e8c7..596f9b3 100644
--- a/frc971/control_loops/index/transfer_motor_plant.h
+++ b/frc971/control_loops/index/transfer_motor_plant.h
@@ -6,11 +6,15 @@
 namespace frc971 {
 namespace control_loops {
 
+StateFeedbackPlantCoefficients<2, 1, 1> MakeTransferPlantCoefficients();
+
+StateFeedbackController<2, 1, 1> MakeTransferController();
+
 StateFeedbackPlant<2, 1, 1> MakeTransferPlant();
 
 StateFeedbackLoop<2, 1, 1> MakeTransferLoop();
 
-}  // namespace frc971
 }  // namespace control_loops
+}  // namespace frc971
 
 #endif  // FRC971_CONTROL_LOOPS_INDEX_TRANSFER_MOTOR_PLANT_H_