In this paper, we utilize a general, nonlinear model of the switched reluctance (SR) motor to develop an adaptive controller for the full-order electromechanical model. The proposed controller requires measurement of the rotor position, rotor velocity, and stator current, does not exhibit any control singularities, achieves global asymptotic position/velocity tracking and compensates for uncertain electromechanical parameters which are independent of the flux linkage model. To illustrate the generality of the approach, we show how the control can be designed to account for magnetic saturation associated with a proposed flux linkage model. Experimental results are also provided.