In this paper, the speed control problem of induction motors is considered based on a semi-current-fed model considering the LuGre dynamic friction model. A double-observer structure is used to estimate different nonlinear effects of the immeasurable friction state. For the semi-current-fed model, either a bounded current-loop control force and a finite integral of current tracking error are assumed which relaxes the traditional strict assumption of an ideal current-loop. In practical experiments, it is assumed that the rotor resistance, torque load, and friction parameters are unknown.