## 8 Conclusions  
Controller design plays a key role in obtaining a good performance of wind turbines, particularly in offshore systems where the oscillatory motion of the platform interacts with the wind turbine and has an effect on the performance in energy generation as well as on the expected lifespan of the system. In this context, this work presents a fuzzy logic controller designed to take into account these effects, enhancing the performance of the system regarding the mechanical loads in the platform, generation of electric energy, and tracking of the speed reference, as stated by the values of a set of performance indexes and the results obtained with an integrated simulation tool, which comprise the methodology employed for comparison of the controllers. This methodology has been used to validate intelligent controllers, proving that fuzzy logic control is a promising alternative to improve the performance of wind turbines in semi-submersible offshore platforms. In particular, the methodology has been applied to the reference PI controller, an improved version of this PI, a stand-alone fuzzy logic controller, a fuzzy logic controller that adjust the gains of the PI, and the fuzzy logic controller proposed in this work. The proposed fuzzy logic controller achieved the best results in the comparison, proving that the combination of intelligent control and traditional control techniques can result in a better controller with fewer drawbacks. In addition, the comparison shows the potential that intelligent control has in the field of wind turbine control in offshore scenarios, as the three fuzzy logic topologies evaluated performed better than the reference PI for each of the three simulation scenarios, while having far better escalation possibilities. Future lines of work include the development of alternative intelligent controllers and the escalation of the evaluated ones to consider effects such as wave energy converters on the platform or the grid status. In particular, the proposed fuzzy logic controller is based on the topology with the best potential to escalate among the three evaluated, as these effects may be integrated in the actual set of inputs, output, and rule definitions without modifying or erasing the PI controller. An interesting future line is the integration and evaluation of techniques that allow for more degrees of freedom for the designer, such as type-2 fuzzy systems, FOPID, or a combination of both. **Author Contributions:** Conceptualization, P.Z., J.F.-L., J.F.-Q., P.M.M.R. and A.G.-C.; methodology, P.Z., J.J.F.-L., P.M.M.R. and J.F.-Q. ; software, P.Z. ; validation, P.Z. and J.F.-Q. ; formal analysis, P.Z. and J.F.-Q. ; investigation, P.Z. ; resources, P.M.M.R. and J.F.-Q. ; data curation, P.Z. ; writing--original draft preparation, P.Z. ; writing--review and editing, P.Z., [PERSON]-L., P.M.M.R., [PERSON]-Q. and A.G.-C.; visualization, P.Z. ; supervision, [PERSON]-L. and P.M.M.R. ; project administration, [PERSON]-L. and P.M.M.R. ; funding acquisition, P.M.M.R. and J.J.F.-L. All authors have read and agreed to the published version of the manuscript. **Funding:** This work was partially supported by the Ministry of Economy and Competitiveness (Government of Spain) and European Union (RTC-2016-5712-3); by the European Union, CDTI (Spain) and BEISS (UK) through the call H2020 ERA-NET DEMOWIND (WIP10+ project); by the Regional Government of Andalusia and European Union (UMA-CEATECH-18); and finally, by partial funding for open access charge from the Universidad de Malaga. **Institutional Review Board Statement:** Not applicable. **Informed Consent Statement:** Not applicable. **Data Availability Statement:** Not applicable. **Conflicts of Interest:** EnerOcean SL, as the owner of W2 Power technology, is the main promoter of the development and validation of the control techniques presented in the article. These techniques could be implemented within the framework of the floating wind industry on both W2 Power and other devices.