We propose a maintenance decision framework where the state of the system is based on a percentage of total degrada- tion and the rate of change of the degradation. At each decision interval, the degradation percentage may be observed perfectly as well as the rate of change with respect to the last observation. We consider five possible actions based on these two observable phenomenon: Do nothing, three imperfect maintenance actions, and a complete renewal. Prior imperfect maintenance models do not consider a scenario where imperfect maintenance not only restores the system to a state less than “as good as new” but also under a new deterioration law. In this case, it is necessary to consider that the rate of degradation after imperfect maintenance will be altered based on the action performed and the state of the system prior to the maintenance. We propose to develop an imperfect maintenance optimization model based on a Markov decision process framework to determine the optimal maintenance actions given the state of the system at each decision interval and motivate the problem through road maintenance.