The design of two single-input single-output (SISO) controllers for induction motors based on adaptive passivity is presented in this paper. The two controllers work together with a field orientation block. Because of the adaptive nature of the proposed controllers, the knowledge of the set motor-load parameters is not needed and robustness under variations of such parameters is guaranteed. Simple proportional controllers for the torque, rotor flux and stator current control loops are used, due to the control simplification given by the use of feedback passive equivalence. A new principle called the "Torque-Flux Control Principle" is also stated in this article, which considerably simplifies the controller design, diminishing the control efforts and avoiding also rotor flux estimation. (c) 2007, ISA. Published by Elsevier Ltd. All rights reserved.