Yes, but the focus is more on human cognition, where cybernetics has more focus on (business, complex, control) systems, (automated, biological) processes, and human collectives.

It is interesting how cognitive science sees AI as a sub-discipline, where AI sees cognitive science as its sub-discipline.

McCarthy was not too enamoured with the bombastic nature of Wiener's persona and research, and may have birthed the field of AI, in part, to carve out his own field of study, and move away from an existing and defined field. As a result, control theory and reinforcement learning have a big overlap, yet use different words, approaches, and concepts.

Interesting. I always thought of cybernetics as robot hands and such, but your description of it is exactly the thing I am most interested in right now.