In my modest opinion, you can correlate the speed with rms value of the AC voltage generated from the inverter and depending on the inverter type, the relation between the inverter input and output is known, so you can relate the speed with the dc voltage.
It depends on the method You control induction motor. Generally speaking the lower DC link votage - lower the speed. But You can make that the speed is proportional to the DC link voltage in a specific way of control.
See my paper 'Maximum torque control of 3-phase induction motor drives', Archives of Electrical Engineering, DOI: 10.24425/119651. This publication is accessible on Research Gate in a full text, so You can study this problem.