A method of using sensor feedback for controlling fluid pressures in a machine includes receiving signals from each of a plurality of Inertial Measurement Units (IMU's) mounted on different components of the machine, receiving a signal from at least one non-IMU sensor, fusing the signals received from the IMU's with each other and with a signal from the at least one non-IMU sensor, determining best estimates of current output joint angles for each of the plurality of components of the machine with reference to a machine reference frame, solving a kinematic equation using the best estimates of current output joint angles for the components of the machine and structural design information characterizing the machine, and applying a determination from the solution of the kinematic equation in an implementation of a controlled adjustment to a fluid pressure supplied to a fluid actuation cylinder.