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This paper is focused on the design of a nonlinear observer for a rotatory machine with noise-affected output. It is assumed that the system is subject to bounded perturbations, and the original linear model of the machine is reformulated as a nonlinear system to include the desired signals to be estimated, namely, the velocity and load torque. The proposed observer leverages the so-called algebraic state-dependent Riccati equation to provide a robust estimation. Lyapunov analysis guarantees the convergence of the estimation error to a “<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>κ</mi></semantics></math></inline-formula> zone”. The proposed observer’s effectiveness is assessed through convincing numerical simulations and real-time experiments.