A system and method are provided for controlling a wind turbine based on a collective pitch-offset. Accordingly, a wind condition acting on a rotor of the wind turbine is determined, and a first collective pitch angle for the plurality of rotor blades is set, and the wind turbine is operated. A thrust of the rotor based, at least in part, on the wind condition is determined, and an actual collective pitch angle is calculated. A collective pitch offset is determined based on the difference between the first collective pitch angle and the actual collective pitch angle. The collective pitch offset is integrated with at least one pitch setpoint command. The at least one pitch setpoint command is transmitted to a pitch control mechanism of the wind turbine.