A wind turbine comprising: a plurality of blades ; a plurality of Micro Inertial Measurement Units (MIMUs) mounted on the plurality of blades for sensing parameter signals of the plurality of blades; and a control system , comprising: a blade bending moment calculation unit for calculating blade bending moment values of the plurality of blades based at least on the sensed parameters, wherein the blade bending moment calculation unit comprises a parameter signal receiving unit for receiving the sensed parameter signals from the plurality of MIMUs ; a blade bending moment error signal calculation unit for calculating blade bending moment error signals of the plurality of blades based on the calculated blade bending moment values of the plurality of blades and a plurality of blade bending moment commands; and a pitch angle compensation command calculation unit for calculating pitch angle compensation commands of the plurality of blades based on the calculated blade bending moment error signals of the plurality of blades ; and a pitch control unit , the pitch control unit using the pitch angle compensation commands to adjust pitch angles of the plurality of blades to compensate a rotor imbalance on the plurality of blades . a plurality of blades ; a plurality of Micro Inertial Measurement Units (MIMUs) mounted on the plurality of blades for sensing parameter signals of the plurality of blades; and a control system , comprising: a blade bending moment calculation unit for calculating blade bending moment values of the plurality of blades based at least on the sensed parameters, wherein the blade bending moment calculation unit comprises a parameter signal receiving unit for receiving the sensed parameter signals from the plurality of MIMUs ; a blade bending moment error signal calculation unit for calculating blade bending moment error signals of the plurality of blades based on the calculated blade bending moment values of the plurality of blades and a plurality of blade bending moment commands; and a pitch angle compensation command calculation unit for calculating pitch angle compensation commands of the plurality of blades based on the calculated blade bending moment error signals of the plurality of blades ; and a pitch control unit , the pitch control unit using the pitch angle compensation commands to adjust pitch angles of the plurality of blades to compensate a rotor imbalance on the plurality of blades . a blade bending moment calculation unit for calculating blade bending moment values of the plurality of blades based at least on the sensed parameters, wherein the blade bending moment calculation unit comprises a parameter signal receiving unit for receiving the sensed parameter signals from the plurality of MIMUs ; a blade bending moment error signal calculation unit for calculating blade bending moment error signals of the plurality of blades based on the calculated blade bending moment values of the plurality of blades and a plurality of blade bending moment commands; and a pitch angle compensation command calculation unit for calculating pitch angle compensation commands of the plurality of blades based on the calculated blade bending moment error signals of the plurality of blades ; and a pitch control unit , the pitch control unit using the pitch angle compensation commands to adjust pitch angles of the plurality of blades to compensate a rotor imbalance on the plurality of blades . <EOS>