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It is well-known that the hydrodynamic torque converter plays a major role in the transient study of power train systems since it has a great influence on the transient characteristics of a vehicle during gear shifting as well as vehicle launching. To predict accurately the vehicle characteristics, detailed analysis of the hydrodynamic torque converter is required. However, even with the development of a nonlinear dynamic model for the torque converter based on Hrovat and Tobler's paper (1985) is available, it is imperative to calculate both torques from impeller and turbine in order to utilize the dynamic model since it takes torque as an input [3]. In order to obtain the information about necessary but unmeasurable variables, nonlinear model-based estimator is developed using already available and measurable speeds data of impeller and turbine. The hydrodynamic torque converter model includes all necessary dynamics, namely, hydraulic as well as mechanical dynamics.