Packet losses degrade the performance of wireless feedback control systems. The use of channel coding may decrease the packet loss rate; however, its redundancy decreases the packet transmission rate under the same bit rate and thus degrades the control quality. In this paper, we propose a variable length channel coding scheme for state feedback without decreasing the packet transmission rate. The proposed scheme reduces the number of state variables to be fed back and instead adds redundant bits of channel coding on the basis of state estimation error. We show that the proposed scheme improves the control quality without decreasing the packet transmission rate.