In this paper, an inductance surface estimation and learning for utilization with a stochastic model predictive control (MPC) scheme for the current control of switched reluctance motors (SRMs) is introduced. This MPC is equipped with state estimators and is implemented as a recursive linear quadratic regulator for practical deployments in hybrid vehicle applications. Additionally, a learning mechanism is developed to dynamically adapt to the inductance profile of the machine and update the MPC and Kalman filter parameters. The introduced control scheme can cope with noise as well as uncertainties within the machine nonlinear inductance surface. The introduced system will benefit from a fixed switching frequency and will offer low current ripples by calculating the optimal duty cycles using the SRM model. Finally, simulations and experimental results are provided to evaluate the proposed method.