This article proposes the use of a proportional–integral–derivative (PID) controller as an adaptive mechanism within the framework of the model reference adaptive system-based rotor flux (MRASF) for accurate rotor speed estimation in induction motors. The controller is designed to impose specific dynamic behaviors and performance criteria, addressing the sensitivity of MRASF dynamics to slip speed. To achieve this, a full-order transfer function of the MRASF is employed to systematically derive the PID parameters using compensation and pole placement techniques. The proposed control strategy ensures that the estimated rotor speed closely follows the desired performance across various operating conditions. The effectiveness of the MRASF–PID design is validated through both simulation and experimental testing under open-loop voltage/frequency control of the induction machine, confirming the successful realization of the targeted dynamic and steady-state performance.