A method for controlling an aerial apparatus with a telescopic boom, strain gauge sensors for detecting the bending state of the telescopic boom in horizontal and vertical directions, a gyroscope attached to the top of the telescopic boom and a control arrangement for controlling movement of the aerial apparatus on the basis of signal values gained from the sensors and the gyroscope, the method including the following steps: obtaining raw signals from the sensors and the gyroscope, calculating reference signals from the raw signals, reconstructing a first oscillation mode and a second oscillation mode from the reference signals and additional model parameters related to construction of the aerial apparatus, calculating a compensation angular velocity value from the reconstructed oscillation modes, and adding the calculated compensation angular velocity value to a feedforward angular velocity value to result in a drive control signal.