A method for controlling a boom (11) for in-flight refueling for increasing the damping of its displacement by means of a movement of control surfaces (16) related to its angular velocity, that comprises the following steps: a) At least two sensors (32, 33) are arranged in two sections of the boom (11) positioned on opposite sides of the valley (41) of the dominant flexible mode (40) for any length of its telescopic extension (12) and the moduli (D1, D2) of the angular deformations of the dominant flexible mode (40) are determined in them; b) The angular velocities (Q1, Q2) are obtained from the data supplied by said sensors (32, 33); c) The angular velocity Q unaffected by the resonance of the dominant flexible mode (40) is obtained as a function of said angular velocities (Q1, Q2) and said moduli (D1, D2), which eliminates the component of the elastic movement of the dominant flexible mode (40). The invention also relates to a control system and a computer program for executing said method.
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