A method is disclosed for controlling a wind turbine by optimizing its production while minimizing the mechanical impact on the transmission. The wind turbine comprises a nacelle provided with a rotor on which blades are fastened and an electrical machine linked to the rotor by a transmission in which pitch angle of the blades is controlled, comprising An aerodynamic torque setpoint and an electrical machine torque setpoint making possible maximizing the recovered power are determined from measurements of wind speed, of rotor speed and of electrical machine speed. At least one of the setpoints is modified by subtracting from it a term proportional to a difference between the measured speed of the rotor and the measured speed of the electrical machine. A pitch angle of the blades making possible production of the aerodynamic torque setpoint is determined. The blades are oriented according to the angle of inclination.