A wind turbine having a hub (210) rotably attached to a nacelle (200), at least two blades (1, 2, 3) rotationally attach to the hub (210) to allow a change in blade pitch angle (T-?, T2 T3) a blade-pitch system (250) for individually controlling the blade-pitch angle (T?, 02 T3) of each blade, a supervisory control unit for issuing a first pitching command, a rotor position sensor (238) generating a rotor-position signal (ß) indicative of the rotor azimuthally position, a rotor-rotational-rate sensor (236) generating a rotor-rotational-rate signal (O) indicative of the rotor rotational speed, and a tower (100) supporting the nacelle (200), comprising a nautical-pitch-rate sensor (230) generating a nautical-pitch-rate signal (?) indicative of the nautical-pitch-rate of the wind turbine and a computational unit (240, 241) receiving turbine-state signals comprising the rotor-position signal (ß), the rotor-rotational-rate signal (O), and the nautical-pitch-rate signal (?).