This paper presents a predictive strategy for the speed control of a two-mass system driven by a permanent magnet synchronous motor (PMSM). The proposed approach allows to manipulate all the system variables simultaneously, including mechanical and electrical variables in a single control law. The state feedback is achieved with a reduced order extended Kalman filter, which observes the non-measured variables as well as reduces the impact of measurement noise. The performance of the control strategy is shown through simulation and experimental results in a 4 [kW] laboratory prototype.