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Socio-cyber-physical systems (SCPSs) have emerged as networked heterogeneous systems that incorporate social components (e.g., business processes and social networks) along with physical (e.g., Internet-of-Things devices) and software components. Model-driven techniques for building SCPSs need actor and goal models to capture social concerns, whereas system issues are often addressed with the Systems Modeling Language (SysML). Comprehensive traceability between these types of models is essential to support consistency and completeness checks, change management, and impact analysis. However, traceability management between these complementary views is not well supported across SysML tools, particularly when models evolve because SysML does not provide sophisticated out-of-the-box goal modeling capabilities. In our previous work, we proposed a model-based framework, called CGS4Adaptation, that supports basic traceability by importing goal and SysML models into a leading third-party requirement-management system, namely IBM Rational DOORS. In this paper, we present the framework’s traceability management method and its use for automated consistency and completeness checks. Traceability management also includes implicit link detection, thereby, improving the quality of traceability links while better aligning designs with requirements. The method is evaluated using an adaptive SCPS case study involving an IoT-based smart home. The results suggest that the tool-supported method is effective and useful in supporting the traceability management process involving complex goal and SysML models in one environment while saving development time and effort. Full article