The drive-train dynamics of a floating wind turbine interact with the tower and platform dynamics. The drive-train dynamics have zeros very close to platform frequencies (very low frequency) and, in certain wind conditions, can be in the right half plane. This requires the turbine full envelope controller to be redesigned for each specific platform design. Even so, the performance is much reduced in comparison to a bottom mounted case. A novel approach to the control of floating wind turbines is proposed, whereby, the dynamics of the nacelle are completely decoupled from the dynamics of the tower and platform. This controller would then be applicable to any wind turbine regardless of whether it is floating or not. The dynamics are transformed from an inertial reference frame to a non-inertial reference frame, through the addition of fictitious forces.