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Rotor speed estimation for induction motors is a key problem in speed-sensorless motor drives.This paper performs nonlinear high gain observer design based on the full-order model of the induction motor.Such an effort appears non-trivial due to the fact that the full-model at best admits locally a non-triangular observable form (NTOF),and its analytical representation in the NTOF can not be obtained.This paper proposes an approximate high gain estimation algorithm,which enjoys a constructive design,ease of tuning,and improved speed estimation and tracking performance.Experiments demonstrate the effectiveness of the proposed algorithm.