A Cyber-Physical-Social System (CPSS) is a novel paradigm of cyber-physical and cybersocial systems with a highly inhomogeneous and distributed nature integrating dynamic stochastic hybrid systems including computation, communication, sensing and actuation, and social systems. Developments range from isolated devices to homogeneous control systems with specific networks, including smart devices, social networks, and Internet of Things (IoT) devices which are connected to the Internet more than ever. They have changed business models and ecosystems across many disciplines. Their usage can be traced to homes such as smart homes, manufacturers in Industry 5.0, critical infrastructures, smart cities, medicines, healthcare systems, and many other examples. They can simplify and speed up tasks and provide a higher level of control and accessibility. In this study, we provide a systematic review of the definition of CPSS and propose a taxonomy to define CPSS more constructively. Furthermore, the importance of considering human and virtual communities is discussed as one of the main components of cyber-physicalsocial systems, and their relationships with cyber-physical systems. Finally, the issues and opportunities in CPSSs are described.