The induction1 motor, and especially the squirrel-cage induction motor, has traditionally been the workhorse of industry, due to its mechanical robustness and relatively low cost. In a wide range of servo applications with high-performance requirements it has now, due to advances in control theory and power electronics, replaced DC and synchronous drives. As a continuation of our studies on torque-control of the generalized machine in Chapter 9, we address here the problem of passivity-based speed/position control of this particularly important machine. The two phase squirrel-cage induction motor model2 is first given in Section 1. Various equivalent representations, often encountered in the literature are also presented. The speed/position control problem is then formulated in Section 2.