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The increasing complexity of cyber-physical systems poses methodological and strategic challenges to their development processes. Prototyping as a core phase in the development process, transformsinitial system ideas into representable artifacts. Prototypes help to understand the system better, communicate ideas and validate parameters and decisions. However, with diverse methods, prototyping consumes high numbers of human, material, and time resources. The activities and artifacts vary from company, users, and the system-under-development. This paper aims to provide a process-model for tailoring the prototyping of cyber-physical systems. The process-model was developed by using the design science research methodology with an adaption of method tailoring. System characteristics are the focus of the five-step procedure and allow the selection and alignment of suitable prototyping methods in a guided way. The process-model was evaluated under workshop conditions on the exemplary system of a next-generation autonomous passenger boarding bridge. [ABSTRACT FROM AUTHOR]