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This paper tackles with the maintenance decision-making of gradually deteriorating control systems. The main feature of these systems is their ability within a closedloop to drive actuators in order to set the controlled process in a given state.Usually, the literature deals with the diagnosis of faults of a control system and the means for recovering system performances after their appearance. The controller reconfiguration is one of these means. The root cause of a fault is rarely argued nor its occurrence time. Before designing maintenance policies, this paper proposes a stochastic modeling framework of a degrading control system focusing on the actuator deterioration. It is assumed a close relationship between the controller setting, the actuator deterioration and finally its faulty situations. These latter are related to given degradation thresholds. Due to the stochastic nature of the deterioration, the corresponding hitting times are thus random. The obtained models allow to assess the conditional reliability of the actuator and then the prognosis of its residual useful life namely the RUL. This RUL is finally used to achieve two maintenance policies based upon the reconfiguration of the controller considered as a new maintenance action.Prepared using sagej.cls

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