Background: In the paper the adaptive control MRAS-based structure for nonlinear two-mass system is proposed. Material and methods: The structure of fuzzy adaptive control of nonlinear two-mass system is presented. Contrary to the majority of papers the considered controller is based on the II type of fuzzy sets. The performance of the control structure is supported by additional compensator. Results: The simulation and experimental tests showing performance of proposed structure are presented. The drive is tested in different operation point including low-speed region where friction plays dominant role Conclusions: It is shown that suppression of torsional vibration of two-mass system are damped effectively. The proposed structure can work for big and ultra-low speed range. Process of adaptation runs correctly and quickly. The experimental studies confirm that compensator introduced to the structure improves operation of the fuzzy controller.