Configuration management appears to be an evolving area in the PMBOK, and I think PMBOK v. 6 throws more light on configuration management.
I also found that an answer to one of the PMP exam questions in Prepcast had a neat distinction between change control and configuration management. It says in essence:
If a proposed change affects a baseline, it has to go through formal Change Control. Other changes may or may not require to go through formal Change Control.
The Configuration Management Plan describes which requests need a formal change control procedure, and which do not.
For those requests that do not, and which are described a configurable in the Conf. Mgmt. Plan, instructions to update the configurable item are described in the Conf. Mgmt. plan.