Right click the icon and use Create Shortcut. You will be asked to place the file on desktop. Open Notepad and drag the shortcut from your desktop. A bunch of strange characters will be displayed along with the path of the icon you want to remove. Locate the CPL file and delete it and the icon will also be deleted from Control Panel.
If you can't remove the application, try using Revo Uninstaller. Even if it can't uninstall the application normally, it will force it to uninstall by wiping out all traces of its presence from the system.
