Method for controlling an aerial apparatus comprising - a telescopic boom, - strain gauge sensors for detecting the bending state of the telescopic boom in a horizontal and a vertical direction, - a gyroscope attached to the top of the telescopic boom and - control means for controlling a movement of the aerial apparatus on the basis of signal values gained from the SG sensors and the gyroscope, said method comprising the following steps: - obtaining raw signals SG Raw, GY Raw from the SG sensors and the gyroscope, - calculating reference signals from the raw signals SG Raw, GY Raw, including an SG reference signal SG Ref, representing a strain value, and a gyroscope reference signal GY Ref, representing an angular velocity value, and an angular acceleration reference signal AA Ref derived from angular position or angular velocity measurement values, - reconstructing a first oscillation mode f 1 and at least one second oscillation mode f 2 of higher order than the first oscillation mode f 1 from the reference signals and additional model parameters PAR related to the construction of the aerial apparatus, - calculating a compensation angular velocity value AV Comp from the reconstructed first oscillation mode f 1 and at least one second oscillation mode f 2, - adding the calculated compensation angular velocity value AV Comp to a feedforward angular velocity value to result in a drive control signal. - a telescopic boom, - strain gauge sensors for detecting the bending state of the telescopic boom in a horizontal and a vertical direction, - a gyroscope attached to the top of the telescopic boom and - control means for controlling a movement of the aerial apparatus on the basis of signal values gained from the SG sensors and the gyroscope, said method comprising the following steps: - obtaining raw signals SG Raw, GY Raw from the SG sensors and the gyroscope, - calculating reference signals from the raw signals SG Raw, GY Raw, including an SG reference signal SG Ref, representing a strain value, and a gyroscope reference signal GY Ref, representing an angular velocity value, and an angular acceleration reference signal AA Ref derived from angular position or angular velocity measurement values, - reconstructing a first oscillation mode f 1 and at least one second oscillation mode f 2 of higher order than the first oscillation mode f 1 from the reference signals and additional model parameters PAR related to the construction of the aerial apparatus, - calculating a compensation angular velocity value AV Comp from the reconstructed first oscillation mode f 1 and at least one second oscillation mode f 2, - adding the calculated compensation angular velocity value AV Comp to a feedforward angular velocity value to result in a drive control signal. - obtaining raw signals SG Raw, GY Raw from the SG sensors and the gyroscope, - calculating reference signals from the raw signals SG Raw, GY Raw, including an SG reference signal SG Ref, representing a strain value, and a gyroscope reference signal GY Ref, representing an angular velocity value, and an angular acceleration reference signal AA Ref derived from angular position or angular velocity measurement values, - reconstructing a first oscillation mode f 1 and at least one second oscillation mode f 2 of higher order than the first oscillation mode f 1 from the reference signals and additional model parameters PAR related to the construction of the aerial apparatus, - calculating a compensation angular velocity value AV Comp from the reconstructed first oscillation mode f 1 and at least one second oscillation mode f 2, - adding the calculated compensation angular velocity value AV Comp to a feedforward angular velocity value to result in a drive control signal.