Self-adaptive control of production systems has attracted a lot of research during last years. Nevertheless, most of these approaches are still unable to tackle current manufacturing expectations, they are very particular for the case study, are in an initial stage of research or do not apply the concept of self-organization and their properties in its strong sense. Thus, leaving the systems without enough robustness, adaptability, or emergence that are highly desirable considering current market requirements. Therefore, the purpose of this work to identify some of the important characteristics that have been applied in past studies and that can be considered together as a baseline to build future manufacturing frameworks.