The first author with B. Sturmfels studied in [16] the variety of matrices with eigenvectors in a given linear subspace, called the Kalman variety. We extend that study from matrices to symmetric tensors, proving in the tensor setting the irreducibility of the Kalman variety and computing its codimension and degree. Furthermore, we consider the Kalman variety of tensors having singular t-tuples with the first component in a given linear subspace and we prove analogous results, which are new even in the case of matrices. Main techniques come from Algebraic Geometry, using Chern classes for enumerative computations.