Ensuring strong security in Cyber-Physical Systems (CPS) is increasingly essential as these systems become integral to contemporary industrial and societal infrastructures. The increasing prevalence of security risks requires the advancement of conventional security engineering approaches to tackle the distinct problems presented by CPS. This study offers a thorough assessment of the research methodologies, approaches, and strategies used in security engineering for cyber-physical systems over the last fifteen years. The review analyses the design and execution of security solutions, including empirical and conceptual investigations, along with the integration and enhancement of existing methodologies. This study seeks to offer a systematic overview of contemporary developments and pinpoint methodological concerns essential for future research in adaptive and security engineering -driven for CPS through an analysis of diverse literature. This study enhances the current discussion by providing a thorough analysis of the research environment, demonstrating the requirement for new and contextually relevant security engineering methodologies.