Self-adaptation is nowadays recognized as an effective approach to deal with the uncertainty inherent to cyber-physical systems, which are composed of dynamic and deeply intertwined physical and software components interacting with each other. Engineering a self-adaptive cyber-physical system is challenging, as concerns about both the physical and the control system should be jointly considered. To this end, we present CyPhEF, a Model-Driven Engineering framework supporting the development and validation of self-adaptive cyber-physical systems.