###### Abstract
These threats could be in the form of cyber-attacks on the individual level or at the organisational level. For example, they targeted those isolated at home during the COVID-19 pandemic lockdowns, schools, businesses, hospitals, manufacturing plants, and social infrastructures. Through the widespread adoption of digital systems, communities have become more susceptible to malicious cyber-attacks; hence, the importance of research around computer systems self-healing has increased over the recent years. A review of existing approaches and methodologies has been conducted to address the need for robust self-healing and self-configuring systems to secure cyber-physical systems against security threats. The selection of methods for this review paper was based on a systematic literature search conducted in major scientific databases such as IEEE Xplore, ACM Digital Library, and Google Scholar. Keywords such as \"computer systems self-healing\", \"cyber-physical systems security\", and \"self-configuring systems\" were used to identify relevant articles published in peer-reviewed journals and conference proceedings. A total of 40 articles were included in this review, covering a wide range of topics related to self-healing and self-configuring systems in the context of cyber-physical systems. The selected articles provide insights into the current state-of-the-art challenges and future directions in this field. By examining these approaches, this review aims to contribute to the development of robust self-healing and self-configuring systems for securing current and future cyber-physical systems. Safety within cyber-physical systems cannot be overemphasised as it is not only an economic imperative but, in some cases, such as in a healthcare setting, can become a matter of life or death. There is, therefore, the broad scope for finding solutions that can aid the development of robust self-healing or self-configuring systems capable of securing current and future cyber-physical systems against security threats. Cyber-physical systems are part of the Industry 4.0 devices that utilise the power of the Internet to convert the existing Industry 3.0 devices into smart industry devices. These include cyber-physical systems deployed in smart manufacturing, smart grid, smart city, and innovative automobiles. The cyber-physical system is highlighted in Figure 1 as part of Industry 4.0, and the figure focuses on the physical components of Industry 4.0, including cyber-physical systems and IoT, while underscoring the self-healing capability of CPSs in modern manufacturing systems using digital technologies such as cloud computing. An example of such development in transitioning the existing state-of-the-art systems protection from manual interventions to a self-healing approach through automation is noted in [9]. The study argues that as providers migrate from 4G to more robust 5G networks,the operational costs associated with network failures, predicted to increase exponentially, account for approximately 23% to 26% of revenue from the mobile network. A shift towards automating the system's protection process through self-healing is occurring to control expenses as mobile network providers migrate to 5G. Self-healing systems are being deployed in electricity distribution plants worldwide, with most deployments burdened with latency, bandwidth, and scalability problems, as highlighted in [10]. Standardised architecture for distributed power control using self-healing functionality to solve systems faults is presented. The system proposal increases reliability during normal operations and resilience during threat events. The result of the self-healing experiment in [10] is currently undergoing field implementation by Duke Energy. Deploying machine learning to build self-healing functionality into the power grid is very important in a world where population growth is rising, and according to [11], frequent power outages constitute a considerable cost to the economy and adversely affect people's quality of life.