The tracking control problem for induction motor servo drives with mechanical and electrical uncertainties is addressed. Under the assumptions that the reference profile for the rotor angle is periodic of known period and the rotor flux modulus reference signal is persistently exciting, a robust adaptive learning control is designed, which is adaptive with respect to the uncertain rotor resistance and is able to 'learn' the periodic disturbance signal due to mechanical uncertainties by identifying the Fourier coefficients of its truncated approximation.