diff --git a/wpimath/src/main/java/edu/wpi/first/math/Matrix.java b/wpimath/src/main/java/edu/wpi/first/math/Matrix.java
index 524f99f238e..250603bfcf5 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/Matrix.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/Matrix.java
@@ -11,6 +11,7 @@
 import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 import org.ejml.MatrixDimensionException;
 import org.ejml.data.DMatrixRMaj;
@@ -29,7 +30,8 @@
  * @param <R> The number of rows in this matrix.
  * @param <C> The number of columns in this matrix.
  */
-public class Matrix<R extends Num, C extends Num> implements ProtobufSerializable {
+public class Matrix<R extends Num, C extends Num>
+    implements ProtobufSerializable, StructSerializable {
   /** Storage for underlying EJML matrix. */
   protected final SimpleMatrix m_storage;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/Vector.java b/wpimath/src/main/java/edu/wpi/first/math/Vector.java
index b49865834b0..69e019dc8ad 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/Vector.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/Vector.java
@@ -11,6 +11,7 @@
 import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 import org.ejml.simple.SimpleMatrix;
 
@@ -21,7 +22,8 @@
  *
  * @param <R> The number of rows in this matrix.
  */
-public class Vector<R extends Num> extends Matrix<R, N1> implements ProtobufSerializable {
+public class Vector<R extends Num> extends Matrix<R, N1>
+    implements ProtobufSerializable, StructSerializable {
   /**
    * Constructs an empty zero vector of the given dimensions.
    *
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
index 90a5976b747..2b29d1954a4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
@@ -32,6 +32,7 @@
 import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Arrays;
 import java.util.Collections;
 import java.util.List;
@@ -51,7 +52,7 @@
  * @param <Outputs> Number of outputs.
  */
 public class LinearSystem<States extends Num, Inputs extends Num, Outputs extends Num>
-    implements ProtobufSerializable {
+    implements ProtobufSerializable, StructSerializable {
   /** Continuous system matrix. */
   private final Matrix<States, States> m_A;