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In this paper, we describe a hardware\/software framework supporting operation and maintenance of software-controlled systems enhancing resilience by promoting a Model-Driven Engineering (MDE) process to automatically derive structural configurations and failure models from reliability artifacts. Specifically, a <jats:italic>reflective<\/jats:italic> architecture developed around <jats:italic>digital twins<\/jats:italic> enables representation and control of system <jats:italic>Configuration Items<\/jats:italic> properly derived from SysML Block Definition Diagrams, providing support for variation. Besides, a plurality of distributed analytic agents for qualitative evaluation over executable failure models empowers the system with runtime self-assessment and dynamic adaptation capabilities. We describe the framework architecture outlining roles and responsibilities in a System of Systems perspective, providing salient design traits about digital twins and data analytic agents for failure propagation modeling and analysis. We discuss a prototype implementation following the MDE approach, highlighting self-recovery and self-adaptation properties on a real cyber-physical system for vehicle access control to Limited Traffic Zones.\n<\/jats:p>","DOI":"10.1007\/s00607-020-00841-6","type":"journal-article","created":{"date-parts":[[2020,9,2]],"date-time":"2020-09-02T12:02:39Z","timestamp":1599048159000},"page":"589-612","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":33,"title":["A framework for Model-Driven Engineering of resilient software-controlled systems"],"prefix":"10.1007","volume":"103","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5109-4375","authenticated-orcid":false,"given":"Jacopo","family":"Parri","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9050-088X","authenticated-orcid":false,"given":"Fulvio","family":"Patara","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6684-1150","authenticated-orcid":false,"given":"Samuele","family":"Sampietro","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4983-4386","authenticated-orcid":false,"given":"Enrico","family":"Vicario","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,9,2]]},"reference":[{"issue":"1\u20132","key":"841_CR1","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1007\/s12243-016-0530-y","volume":"72","author":"DP Abreu","year":"2017","unstructured":"Abreu DP, Velasquez K, Curado M, Monteiro E (2017) A resilient internet of things architecture for smart cities. 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