The disclosure describes a control system for controlling the movement of an implement associated with a machine. The control system includes a load sensor, a grade control system, an implement position sensor, and a controller. The load sensor is configured to generate a load signal indicative of a loading condition of the implement. The grade control system is configured to generate a desired implement position signal indicative of a desired implement position. The implement position sensor is configured to generate an implement position signal indicative of a position of the implement. The controller is configured to generate a machine control command to move the implement as a function of the load signal, the desired implement position signal, and the implement position signal.