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This paper develops an exhaust manifold pressure estimation method for a Diesel engine equipped with a variable geometry turbine (VGT) turbocharger. Extrapolated VGT data-maps are used directly for the estimation of the exhaust pressure using a non-iterative Newton-Raphson based method suitable for real-time applications. This approach can give more accurate estimations than traditional methods because it takes into account the turbine speed effect on the turbine mass flow rate. All this without increasing the calculation load significantly. The proposed exhaust manifold estimation can be used to relieve the exhaust manifold pressure physical sensor during engine operating conditions where its reliability is low. The estimator is evaluated in transient with two different engine cycles using a engine model validated in a benchmark as a reference.