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Abstract: This paper presents experimental results for two adaptive nonlinear controllers applied to a variable reluctance motor (VRM). The first controller requires both rotor position and velocity (full state) feedback, while the latter is an observer-based backstepping-type output feedback controller, requiring only rotor position measurement. Velocity for the full-state controller is estimated using a high-gain ``differentiating filter.'' The experimental comparison shows that the observer-based controller provides a better transient response, a smaller steady-state tracking error when gains for both controllers are comparable.