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The combination of the non-linear generalised predictive control (NGPC) and the adaptive interconnected observer (AIO) is considered for the design of the output feedback predictive controller. Since the induction motors (IMs) are intensively used in applications requiring high dynamic performance, the algorithm developed is potentially useful for a fully decoupling in speed and flux magnitude regulation. Indeed, in a first step the state-feedback controller is given, which stems from the approximation of the output tracking error in the receding horizon by its Taylor-series expansion is given. In a second step, the AIO property is exploited in order to avoid the problem of parameters uncertainly and state unavailability during the drive motor, with realising a suitable tracking of trajectories for the system output. This results in a sensorless control of the induction motors, whose rotor and stator resistances, the load torque, the rotor flux and mechanical speed are simultaneously recovered by profiting only from the measurements of the stator current. Effectiveness of the proposed observers and the performance of the controller are confirmed by simulation results.

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