Background Development of efficient and simple and efficient control structures is important for real industrial applications. Additional feature, that is often required, deals with correct work of the control system under unexpected changes of parameters of the plant. Assumption of characteristic behaviors of the object is also beneficial (like specific gears in electrical drives). Thus, the scope of work presented in proposed paper is focused on relatively simple adaptive controller applied for control of two-mass system. Material and methods Submitted article presents state space controller with reconfigurable parameters applied for two-mass system. Adaptation is realized using fuzzy model for all four parameters. The plant represents electrical drive with DC motors connected using elastic connection. After theoretical background, simulations and experiment are shown. Results Results present properties of proposed state space controller based on fuzzy models, additionally comparison with classical controller is investigated. Results show behavior of structures when different disturbances are applied. Next experimental validation of achieved results was performed. Conclusions Obtained results present correct work of the two-mass system with analyzed state space controller. Modified version of the controller has significantly improved properties of classical one. Advantageous features were verified in experiment.