A wind turbine including a nacelle mounted on a tower, and a yaw control system that is operable to yaw the nacelle with respect to the tower, the yaw control system comprising: a controller receiving an input signal, and providing an output control signal to a yaw actuator; wherein the yaw actuator is operable to yaw the nacelle in response to the control signal received form the controller; wherein the input signal to the controller is based on: a first feedback signal that is indicative of the relative wind direction determined with respect to the wind turbine, wherein the first feedback signal is filtered with a first low pass filter; characterized in that the input signal is further based on a second feedback signal that is indicative of the activity of the yaw actuator, wherein the second feedback signal provides an indication of the yaw heading of the nacelle, as driven by the yaw actuator, that is not yet indicated in the first feedback signal due to the filtering of that signal by the low pass filter and, wherein the second feedback signal is based on a first signal component and a second signal component, wherein the first signal component represents the yaw heading of the nacelle and the second signal component is a filtered value of the yaw heading of the nacelle, the second signal component being filtered by a second filter. a controller receiving an input signal, and providing an output control signal to a yaw actuator; wherein the yaw actuator is operable to yaw the nacelle in response to the control signal received form the controller; wherein the input signal to the controller is based on: a first feedback signal that is indicative of the relative wind direction determined with respect to the wind turbine, wherein the first feedback signal is filtered with a first low pass filter; characterized in that the input signal is further based on a second feedback signal that is indicative of the activity of the yaw actuator, wherein the second feedback signal provides an indication of the yaw heading of the nacelle, as driven by the yaw actuator, that is not yet indicated in the first feedback signal due to the filtering of that signal by the low pass filter and, wherein the second feedback signal is based on a first signal component and a second signal component, wherein the first signal component represents the yaw heading of the nacelle and the second signal component is a filtered value of the yaw heading of the nacelle, the second signal component being filtered by a second filter. a first feedback signal that is indicative of the relative wind direction determined with respect to the wind turbine, wherein the first feedback signal is filtered with a first low pass filter; characterized in that the input signal is further based on a second feedback signal that is indicative of the activity of the yaw actuator, wherein the second feedback signal provides an indication of the yaw heading of the nacelle, as driven by the yaw actuator, that is not yet indicated in the first feedback signal due to the filtering of that signal by the low pass filter and, wherein the second feedback signal is based on a first signal component and a second signal component, wherein the first signal component represents the yaw heading of the nacelle and the second signal component is a filtered value of the yaw heading of the nacelle, the second signal component being filtered by a second filter.