A self-tunning adaptive control scheme for application to Switched Reluctance (SR) Motors is investigated in this work. The control gains of the proposed Pi-based control scheme are functions of the motor current and speed error signals. A second order nonlinear model of an SR Motor is considered to design the controller. The model is linearized around a nominal operation point to tune the controller. Simulation results verify the superior performance of the proposed adaptive speed control method in comparison with the conventional PI control technique. In specific, the results show that the control performance is satisfactory over a wide range of operating points.