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In this paper, the coupled dynamics of the floating platform and the WTGrotor is analysed. In particular, the damping is explicitly derived from thecoupled equations of rotor and floating platform. The analysis of the dampingleads to the study of the instability phenomena and it derives the explicitconditions that lead to the Non Minimum Phase Zero (NMPZ). Two NMPZs, onerelated to the rotor dynamics and the other one to the platform pitch dynamics,are analysed. The latter is a novelty and it is analysed in this work,providing the community of an explicit condition for its verification. Thedomain of the instability of the platform is explicitly derived from thecoupled system of equations. In the second part of the paper, from the analysisof the damping of the floating platform, a new strategy for the control ofFOWTs is proposed. This strategy allows one to impose to the controller anexplicit level of damping in the platform pitch motion without changing theperiod of platform pitching. Finally the new strategy is compared to the onewithout compensation by performing aero-hydro-servo-elastic numericalsimulations of the UMaine IEA15MW FOWT. Generated power, movements, blade pitchand tower base fatigue are compared showing that the new control strategy canreduce fatigue in the structure without affecting the power production.

Damping analysis of Floating Offshore Wind Turbine (FOWT): a new control strategy reducing the platform vibrations