In this article, we develop an output feedback adaptive control framework for continuous-time minimum phase multivariable dynamical systems for output stabilisation and command following. The approach is based on a nonminimal state-space realisation that generates an expanded set of states using the filtered inputs and filtered outputs and their derivatives of the original system. Specifically, a direct adaptive controller for the nonminimal state-space model is constructed using the expanded states of the nonminimal realisation and is shown to be effective for multi-input, multi-output linear dynamical systems with unmatched disturbances, unmatched uncertainties and unstable dynamics. The proposed adaptive control architecture requires only knowledge of the open-loop system's relative degree as well as a bound on the system's order. Several illustrative numerical examples are provided to demonstrate the efficacy of the proposed approach.