Abstract: A newly developed control method for induction motor, Passivity-Based Control (PBC), is improved by deleting the requirement of stator current feedback. In addition, a self-tuning adaptive control scheme and a closed-loop control of rotor flux are introduced. The entire control approach not only reserves the advantages of PBC such as simplicity and nonexistence of singularity, but also represses the speed and flux tracking error caused by rotor resistance variation.