When a child has been committed to the department, the department may:
(1) permit the child liberty under supervision and on conditions the department believes conducive to acceptable behavior;
(2) order the child's confinement under conditions the department believes best designed for the child's welfare and the interests of the public;
(3) order reconfinement or renewed release as often as conditions indicate to be desirable;
(4) revoke or modify any order of the department affecting a child, except an order of final discharge, as often as conditions indicate; or
(5) discharge the child from control when the department is satisfied that discharge will best serve the child's welfare and the protection of the public.