A sliding mode observer is presented. which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i. e. single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. https://www.roneverhart.com/HP-27xq-27-2560-x-1440-Quad-HD-2K-1ms-144Hz-HDMI-DisplayPort-AMD-FreeSync-Low-Blue-Light-Anti-Glare-Micro-Edge-LED-Ba/