Can i use iControl Rest on version 11.4 ?

You can use iControlRest on 11.4. Here's an article that talks about it's introduction. There's also the wiki page for it. In 11.5 iControlRest became more stable (less beta). So while it's there in 11.4, it may act differently than in later versions of the system.

I still have some 11.4 instances and am using it. Most of the LTM stuff works, but ASM freaks it out (one can generally work around this, though) but it does hose up some listing calls. If you are just starting with iControl I wouldn't even bother looking at the SOAP one. I suspect they'll retire that at some point.