This paper presents a novel methodology named Health-Aware Control (HAC) system, that integrates System Health Monitoring (SHM), Control and Prognosis. This new approach based on both current and future health state estimates, provided by the prognosis module, takes into account the system’s health information in the control objectives. In this way, the control actions are generated to fulfill the control goals and, at the same time, to extend the life of the system components. To illustrate the performance of the proposed approach, a conveyor belt system that uses an AC electrical motor to move a cart from one end to the other is used.