A post-Markovian quantum master equation is derived, which includes bath memory effects via a phenomenologically introduced memory kernel k(t). The derivation uses as a formal tool a probabilistic single-shot bath-measurement process performed during the coupled system-bath evolution. The resulting analytically solvable master equation interpolates between the exact Nakajima-Zwanzig equation and the Markovian Lindblad equation. A necessary and sufficient condition for complete positivity in terms of properties of k(t) is presented, in addition to a prescription for the experimental determination of k(t). The formalism is illustrated with examples.
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