The exhaust of an automotive engine is one of the main causes of air pollution. These days, many researchers are investigating the waste heat recovery of automotive engines. A two-cylinder gamma-type Stirling engine is chosen for this purpose. The exhaust of a diesel engine is chosen as a heat input source for this purpose. This work explains the isothermal, ideal adiabatic, and non-ideal simple analysis of the Stirling engine. A set of differential equations are solved using Runge-Kutta 4th order method using MATLAB software. These equations describe the pressure, pressure variation, mass, mass flow, and energy flow in the Stirling engine which estimate the power and efficiency. Using non-ideal simple analysis, pressure drop analysis, piston finite speed, heat transfer losses of Stirling engine are calculated. The power estimated by isothermal, adiabatic, simple, and experimental analysis is 133.82 W, 143.75 W, 93.2 W, 111.43 W, and thermal efficiency is 30.70 %, 30.90%, 21.20%, 24.70% respectively. The results of these models are in close agreement with the experimental results.