Control theory certainly predates Wiener's cybernetics. He did not invent negative feedback analysis nor design of control systems. He did fail to cite previous work, so adherents of cybernetics think he did.
He did invent plenty of feedback analysis techniques and modern control systems before writing Cybernetics
"[...] general reader could be forgiven for assuming that Wiener was the originator of the idea of feedback control. Significant though these war-time contributions were, they were not the whole story: as I and others have shown feedback control has had a much longer history"
That text includes more references to papers and books on the history of ideas relevant for control theory and control engineering.