Predicting the failure and estimating the machine's state of health is information that supports the production planning and maintenance management systems to increase productivity and reduce maintenance and downtime costs. However, controlling the degradation in the machines will improve the system's reliability and resilience and make high-level decisions more accurate and reliable. To control the degradation in the machines, time should be included in the cost function as a variable, which alters the markovian properties of the system dynamic. In this article, we include the degradation cost in the quadratic cost function of the infinite horizon controller and calculate the optimal feedback according to the dynamics of the degradation using dynamic programming. It will be shown that the infinite horizon control will convert to the finite horizon, and the controller will be able to control the degradation according to the desired degradation at the desired time. In the end, with the help of simulation, we show that the degradation controller can control the degradation in the MIMO systems.