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Presented is a real-time steady state engine torque estimation algorithm executed in the spatial domain (crank angle domain) using speed wheel information. The torque estimation algorithm consists of a notch-filter and a steady state model which is identified using an orthogonal least squares estimation algorithm. The inputs to this model include the amplitude of the nth frequency component (n is the number of cylinders) of the crankshaft signature and average engine speed. Notch filters executed in the crank-angle domain are employed to extract the nth frequency component directly from the instantaneous engine speed signal. This approach is applied to a calibrated engine model for an in-line six cylinder diesel engine. A discussion of the results is also provided.