An estimation technique called the Extended Kalman filter is used to estimate viscous friction, spring initial contraction, and the spring constant on the swash plate of a variable displacement pump. The feasibility of the approach was established using a simulation study. It showed that these parameters could be estimated very accurately in a reliable and independent fashion. A special experimental system was set up to facilitate the measurement of certain states to enhance the Kalman Filtering approach. The aforementioned parameters were estimated and found to be reasonably repeatable for a common operating point. It was very evident that as the operating conditions changed (i.e. temperature) so did the estimated values of certain parameters such as viscous friction. This was believed to be a good verification test for the approach.