The Internet has become an evolving entity, growing in importance and creating new value through its expansion and added utilization. The Internet of Things (IoT) is a new concept associated with the future Internet and has recently become popular in a dynamic and global network infrastructure. However, in an IoT implementation, it is difficult to satisfy different Quality of Service (QoS) requirements and achieve rapid service composition and deployment. In this paper, we propose a new QoS control scheme for IoT systems. Based on the Markov game model, the proposed scheme can effectively allocate IoT resources while maximizing system performance. In multiagent environments, a game theory approach can provide an effective decision-making framework for resource allocation problems. To verify the results of our study, we perform a simulation and confirm that the proposed scheme can achieve considerably improved system performance compared to existing schemes.