New adaptive complex systems are required in order to tackle Industry 4.0 challenges. These Industry 4.0 compliant systems (Cyber Physical Production System) will mainly rely on mechatronics and CPS (Cyber-Physical Systems) concepts. Thus, it is important to have a better understanding of the available synergies between these three concepts, the main goal being the adaptability of manufacturing systems related to the variability of new innovative manufactured products. In this paper, a CPPS conjoint design process based on mechatronic systems and CPS is proposed. In order to better design such complex manufacturing systems, a conjoint design process encompassing the design of the innovative product and its manufacturing system is developed.