A new indirect field-oriented output feedback control for induction motors is presented which provides global asymptotic tracking of smooth speed and flux reference trajectories in the presence of unknown constant load torque. A tuning procedure for controller parameters is also developed. Transient performance and robustness properties with respect to structural unmodeled dynamics of the current control loops can easily be specified. Simulation and experimental tests demonstrate better dynamic performance compared to that of standard indirect field-oriented control. The proposed control algorithm can be viewed as an improvement of standard field-oriented controllers.