[Abstract]This paper presents the direct field oriented control (FOC) for an induction motor (IM) with a nonlinear controller based on the technique of an input output feedback linearization control, that allows us to control the speed and the rotor flux using two cascade controller one for the stator currents and the other one for the speed and rotor flux.Where we associated those controllers with an adaptive nonlinear observer that estimate the currents and the parameters ( K T r ) and K for the first controller ,and since the second one contains the load torque as an input and since its unmeasured then a second order Leuenberger observer is used to compensate it that uses the speed as a measured state stator currents as an input vector.Where the proposed controller and observers shows a perfect speed and rotor flux tracking even in the presence of parameter uncertainties as well as a perfect parameter and load torque estimation ,hence simulation results have been performed under Matlab/Simulink that shows their performance.