The authors design a new speed sensorless output feedback control for the full-order model of induction motors with unknown constant load torque, which guarantees local asymptotic tracking of smooth speed and rotor flux modulus reference signals and local asymptotic field orientation, on the basis of stator current measurements only. The proposed nonlinear controller exploits the concept of indirect field orientation (no flux estimation is required) in combination with a new high-gain speed estimator based on the torque current tracking error. The estimates of unknown load torque and time-varying rotor speed converge to the corresponding true values under a persistency of excitation condition with a physically meaningful interpretation, basically equivalent to non-null synchronous frequency. Stability analysis of the overall dynamics has been performed exploiting the singular perturbation method. The proposed control algorithm is a "true" industrial sensorless solution since no simplifying assumptions (flux and load torque measurements) are required. Simulation and experimental tests show that the proposed controller is suitable for medium and high performance applications. (C) 2006 Elsevier Ltd. All rights reserved.